StanfordVL/OmniGibson
Oct 2024 – Dec 2025
15 Months active
Languages Used
N/APythonYAMLNumbaPyTorchC++KitTOML
Technical Skills
Configuration ManagementOmniversePythonPython ScriptingRoboticsSimulation
hang-yin
PROFILE
Hang-yin
Yinhang contributed extensively to the StanfordVL/OmniGibson repository, building advanced simulation features for robotics and teleoperation research. Over 15 months, Yinhang engineered robust task management, VR integration, and data collection pipelines, focusing on reproducibility and scalable experimentation. Their work included refactoring core modules for maintainability, implementing motion planning and collision detection using Python and C++, and enhancing rendering and visualization with USD and 3D graphics techniques. By improving installation workflows, CI/CD reliability, and documentation, Yinhang enabled smoother onboarding and deployment. The depth of engineering addressed both backend stability and user-facing quality, supporting complex research workflows and real-world hardware compatibility.
Overall Statistics
Feature vs Bugs
62%Features
Repository Contributions
552Total
Bugs
135
Commits
552
Features
220
Lines of code
18,352,286
Activity Months15
Your Network
21 peopleWork History
December 2025
4 Commits • 3 Features
Dec 1, 2025December 2025 performance summary for StanfordVL/OmniGibson. Focused on delivering foundational navigation improvements, expanding hardware compatibility, and enhancing visibility/documentation to drive faster iteration and better collaboration. Key outcomes include improved motion control workflows, broader robot support in examples, and enriched documentation and reporting links.
4 Commits • 3 Features
Dec 1, 2025December 2025 performance summary for StanfordVL/OmniGibson. Focused on delivering foundational navigation improvements, expanding hardware compatibility, and enhancing visibility/documentation to drive faster iteration and better collaboration. Key outcomes include improved motion control workflows, broader robot support in examples, and enriched documentation and reporting links.
December 2025
November 2025
5 Commits • 2 Features
Nov 1, 2025November 2025: Delivered two major features in OmniGibson with clear business value for deployment reliability and competition workflows. 1) BDDL3 migration: renamed the bddl directory to bddl3 and updated install scripts, CI configurations, and GitHub workflows to reference the new directory, improving installation reliability and Windows compatibility. 2) Leaderboard UI enhancements for the 2025 BEHAVIOR challenge: updated layout and added dynamic sorting to provide clearer information on submissions and scoring metrics, enabling faster evaluation and better participant insights. No major bugs fixed this month; focus was on feature delivery, CI reliability, and user-facing UI improvements. Overall impact: smoother multi-environment deployments, improved onboarding experience for new users, and enhanced transparency in competition data. Technologies/skills demonstrated: repository refactoring and Python packaging, shell scripting (setup.sh), Windows path handling, GitHub Actions CI/workflows, and frontend UI enhancements with dynamic sorting.
November 2025
5 Commits • 2 Features
Nov 1, 2025November 2025: Delivered two major features in OmniGibson with clear business value for deployment reliability and competition workflows. 1) BDDL3 migration: renamed the bddl directory to bddl3 and updated install scripts, CI configurations, and GitHub workflows to reference the new directory, improving installation reliability and Windows compatibility. 2) Leaderboard UI enhancements for the 2025 BEHAVIOR challenge: updated layout and added dynamic sorting to provide clearer information on submissions and scoring metrics, enabling faster evaluation and better participant insights. No major bugs fixed this month; focus was on feature delivery, CI reliability, and user-facing UI improvements. Overall impact: smoother multi-environment deployments, improved onboarding experience for new users, and enhanced transparency in competition data. Technologies/skills demonstrated: repository refactoring and Python packaging, shell scripting (setup.sh), Windows path handling, GitHub Actions CI/workflows, and frontend UI enhancements with dynamic sorting.
October 2025
1 Commits • 1 Features
Oct 1, 2025Monthly work summary for 2025-10 focused on delivering a clear, research-friendly dataset documentation enhancement for the OmniGibson project, with emphasis on usability and data clarity.
1 Commits • 1 Features
Oct 1, 2025Monthly work summary for 2025-10 focused on delivering a clear, research-friendly dataset documentation enhancement for the OmniGibson project, with emphasis on usability and data clarity.
October 2025
September 2025
36 Commits • 16 Features
Sep 1, 2025Sep 2025 monthly summary for StanfordVL/OmniGibson emphasizes delivering user-facing features, reliability improvements, and performance-oriented changes across data handling, evaluation, and rendering pipelines. Key features delivered include the Markdown Include Plugin to enable including external markdown content, CI enhancements to install evaluation requirements automatically, and data ingestion/packaging improvements that streamline reproducible evaluation. The team expanded capability with pointcloud modality in vision sensors and evaluation, and implemented a default expansion of products and permutations in BDDL. The work also encompasses comprehensive documentation updates to assist onboarding and usage. Across bugs, fixes included unit tests stabilization, vector environment reset adjustments, leaderboard/knowledgebase fixes, and USD path corrections, driving higher reliability in evaluation workflows. These results collectively improve reliability, accuracy of evaluations, and developer velocity, enabling faster, more dependable product iterations and clearer business value.
September 2025
36 Commits • 16 Features
Sep 1, 2025Sep 2025 monthly summary for StanfordVL/OmniGibson emphasizes delivering user-facing features, reliability improvements, and performance-oriented changes across data handling, evaluation, and rendering pipelines. Key features delivered include the Markdown Include Plugin to enable including external markdown content, CI enhancements to install evaluation requirements automatically, and data ingestion/packaging improvements that streamline reproducible evaluation. The team expanded capability with pointcloud modality in vision sensors and evaluation, and implemented a default expansion of products and permutations in BDDL. The work also encompasses comprehensive documentation updates to assist onboarding and usage. Across bugs, fixes included unit tests stabilization, vector environment reset adjustments, leaderboard/knowledgebase fixes, and USD path corrections, driving higher reliability in evaluation workflows. These results collectively improve reliability, accuracy of evaluations, and developer velocity, enabling faster, more dependable product iterations and clearer business value.
August 2025
65 Commits • 19 Features
Aug 1, 2025August 2025 performance for StanfordVL/OmniGibson focused on reliability, reproducibility, and user-facing quality. Delivered a unified installation and setup workflow across OG/global scripts and Windows, enhanced environment checks, and pre-commit hook integration to accelerate onboarding and reduce setup failures. Introduced presampled robot pose support with deterministic tro reset for reproducible experiments. Hardened the OG/OpenGraph pipeline with asset path corrections and on-demand remapper initialization while enabling GPU-loading optimizations for faster demos. Expanded challenge UI and gallery capabilities (gallery, tabs, annotation sidebar, metadata tracking) along with leaderboard support and language instruction enhancements, and updated the demo gallery to 50 tasks built on demand. Completed Joylo documentation set and comprehensive documentation updates across installation, main readme, and reference materials. Strengthened project quality with unit test stability fixes, UI fixes, and targeted tooling improvements to improve CI reliability and developer productivity.
65 Commits • 19 Features
Aug 1, 2025August 2025 performance for StanfordVL/OmniGibson focused on reliability, reproducibility, and user-facing quality. Delivered a unified installation and setup workflow across OG/global scripts and Windows, enhanced environment checks, and pre-commit hook integration to accelerate onboarding and reduce setup failures. Introduced presampled robot pose support with deterministic tro reset for reproducible experiments. Hardened the OG/OpenGraph pipeline with asset path corrections and on-demand remapper initialization while enabling GPU-loading optimizations for faster demos. Expanded challenge UI and gallery capabilities (gallery, tabs, annotation sidebar, metadata tracking) along with leaderboard support and language instruction enhancements, and updated the demo gallery to 50 tasks built on demand. Completed Joylo documentation set and comprehensive documentation updates across installation, main readme, and reference materials. Strengthened project quality with unit test stability fixes, UI fixes, and targeted tooling improvements to improve CI reliability and developer productivity.
August 2025
July 2025
30 Commits • 9 Features
Jul 1, 2025July 2025: Delivered key features, reliability improvements, and documentation updates for OmniGibson, enhancing automation, data quality, and developer productivity. Highlights include expanding the sorting_household_items task, robust sampling improvements with related replay fixes, and critical bug fixes that unblock data collection and stabilize semantic segmentation remapping. In addition, setup, CI/pre-commit, and docs improvements increased build stability and maintainability, while ongoing website and teleoperation documentation enhancements support better onboarding and external engagement.
July 2025
30 Commits • 9 Features
Jul 1, 2025July 2025: Delivered key features, reliability improvements, and documentation updates for OmniGibson, enhancing automation, data quality, and developer productivity. Highlights include expanding the sorting_household_items task, robust sampling improvements with related replay fixes, and critical bug fixes that unblock data collection and stabilize semantic segmentation remapping. In addition, setup, CI/pre-commit, and docs improvements increased build stability and maintainability, while ongoing website and teleoperation documentation enhancements support better onboarding and external engagement.
June 2025
68 Commits • 29 Features
Jun 1, 2025June 2025 (2025-06) monthly summary for StanfordVL/OmniGibson. Delivered a major Attachments and Visuals System enabling camera-tripod attachments, parameter tuning, and mode-based visualizers, and expanded task generation and evaluation capabilities with multi-instance/multi-episode support and extensive B40/B50 task updates. Fixed core rendering and rule bugs to improve reliability and realism, enhanced sampling configurations and performance, and strengthened deployment readiness through code quality improvements and installation scripts. The work delivers more realistic simulations, scalable experimentation, and stronger business value via faster iteration, easier deployment, and broader task coverage.
68 Commits • 29 Features
Jun 1, 2025June 2025 (2025-06) monthly summary for StanfordVL/OmniGibson. Delivered a major Attachments and Visuals System enabling camera-tripod attachments, parameter tuning, and mode-based visualizers, and expanded task generation and evaluation capabilities with multi-instance/multi-episode support and extensive B40/B50 task updates. Fixed core rendering and rule bugs to improve reliability and realism, enhanced sampling configurations and performance, and strengthened deployment readiness through code quality improvements and installation scripts. The work delivers more realistic simulations, scalable experimentation, and stronger business value via faster iteration, easier deployment, and broader task coverage.
June 2025
May 2025
115 Commits • 58 Features
May 1, 2025During May 2025, the OmniGibson repository (StanfordVL/OmniGibson) delivered a mix of stability fixes, feature work, and data-management improvements that collectively enhance realism, reliability, and operational efficiency for teleoperation and research tasks. Key outcomes include scene management enhancements, behavior-task stability improvements, expansion and maintenance of the task suite, teleoperation UX improvements, and performance/visual refinements, all contributing to faster task setup, more reliable playback, and better experimentation metrics.
May 2025
115 Commits • 58 Features
May 1, 2025During May 2025, the OmniGibson repository (StanfordVL/OmniGibson) delivered a mix of stability fixes, feature work, and data-management improvements that collectively enhance realism, reliability, and operational efficiency for teleoperation and research tasks. Key outcomes include scene management enhancements, behavior-task stability improvements, expansion and maintenance of the task suite, teleoperation UX improvements, and performance/visual refinements, all contributing to faster task setup, more reliable playback, and better experimentation metrics.
April 2025
63 Commits • 22 Features
Apr 1, 2025Overview for 2025-04: OmniGibson delivered meaningful business value through task-centric visualization, enhanced data workflows, and broader hardware support. The month included feature-driven improvements to task visualization and task loading, along with substantial reliability fixes that strengthen data pipelines and rendering.
63 Commits • 22 Features
Apr 1, 2025Overview for 2025-04: OmniGibson delivered meaningful business value through task-centric visualization, enhanced data workflows, and broader hardware support. The month included feature-driven improvements to task visualization and task loading, along with substantial reliability fixes that strengthen data pipelines and rendering.
April 2025
March 2025
61 Commits • 30 Features
Mar 1, 2025March 2025 (2025-03) monthly delivery for StanfordVL/OmniGibson focused on stabilizing runtime, accelerating onboarding, and delivering visible business value across features, data collection, VR/teleoperation, and maintenance. Key refactors and feature flags were implemented to improve clarity and downstream compatibility while maintaining performance and reliability in simulations and deployments.
March 2025
61 Commits • 30 Features
Mar 1, 2025March 2025 (2025-03) monthly delivery for StanfordVL/OmniGibson focused on stabilizing runtime, accelerating onboarding, and delivering visible business value across features, data collection, VR/teleoperation, and maintenance. Key refactors and feature flags were implemented to improve clarity and downstream compatibility while maintaining performance and reliability in simulations and deployments.
February 2025
39 Commits • 13 Features
Feb 1, 2025February 2025 monthly summary for StanfordVL/OmniGibson focusing on delivering business value and technical achievements. Key features delivered include a comprehensive Isaac 4.5 Upgrade and Installation, simulation workflow modernization, and stabilization work across VR/scene graphs and rendering assets. The work also advanced code quality and maintainability through a refactor of rigid prims and module/name cleanup, while improving runtime performance and testing coverage.
39 Commits • 13 Features
Feb 1, 2025February 2025 monthly summary for StanfordVL/OmniGibson focusing on delivering business value and technical achievements. Key features delivered include a comprehensive Isaac 4.5 Upgrade and Installation, simulation workflow modernization, and stabilization work across VR/scene graphs and rendering assets. The work also advanced code quality and maintainability through a refactor of rigid prims and module/name cleanup, while improving runtime performance and testing coverage.
February 2025
January 2025
27 Commits • 6 Features
Jan 1, 2025January 2025 monthly summary for StanfordVL/OmniGibson focused on delivering business value through robust feature enhancements, stability improvements, and maintainable code refactors. Key contributions include enhancements to collision checks, improved primitives selection with cuRobo integration, holonomic base joint controller configuration, and a major primitives core refactor that improved structure and maintainability. A comprehensive set of bug fixes and test stabilizations improved reliability of simulation and downstream tooling.
January 2025
27 Commits • 6 Features
Jan 1, 2025January 2025 monthly summary for StanfordVL/OmniGibson focused on delivering business value through robust feature enhancements, stability improvements, and maintainable code refactors. Key contributions include enhancements to collision checks, improved primitives selection with cuRobo integration, holonomic base joint controller configuration, and a major primitives core refactor that improved structure and maintainability. A comprehensive set of bug fixes and test stabilizations improved reliability of simulation and downstream tooling.
December 2024
12 Commits • 4 Features
Dec 1, 2024December 2024 — OmniGibson (StanfordVL) delivered a focused set of reliability, data fidelity, and VR/robot control improvements across four key areas. The work emphasizes business value by stabilizing remote operation, improving data collection and training data quality, and strengthening backend reliability for production use. Key deliverables: - VR Teleoperation and Headset Interaction Enhancements: stabilized teleoperation and headset integration through anchor alignment, camera activation, and VR update loop optimizations; added free head orientation and FOV controls for deeper immersion and more granular data collection. Commits: bf3c2f90c66b85f72055d04a72952037beb00585; 397a34de8004d10b2a4a10deccd56342b6c3a209; 4377a57969ed1c36ae416b36781bcac0d106ca59; deccf82fc1f3dec0a7c6a4e598f0eb1d16e61626; 54a351d10567bb9cde542a66c01f677fcd4b942a. - Robotic Action Primitives Stability and Planning Robustness: improved action primitives reliability, refined planning parameters, and streamlined initialization and loading configurations to enhance robustness and reduce failures during autonomous or semi-autonomous runs. Commits: f24e4b999641c47613d515587a7f7aea1b61ce82; a997b28b8e55f0b7e9248a68871cd84eec6723fa. - Data Collection and VR Recording Enhancements: added support for saving and playback of episodes with video recording during playback; introduced a recording flag to the data wrapper for granular VR data control and better compatibility with VR usage. Commits: 9615cd6bd3b24463e641348a6d2bbeb6c40055b0; c10ed284eef27ab47923c6e2588fe4b3d10e421e. - Robot Control Backend Stabilization and Testing Adjustments: stabilized the backend, aligned NumPy/PyTorch command handling, added default command limits, and updated unit tests and controller backend cleanup to reduce regressions. Commits: 20d4da2d7b609a627a2ad4b8164c1ddaf9e57591; 1eb7244f6bbbe21d46a6ed7f5a3537b8104c5851; 1c57085fd8c4e77ad305c21eae216a51bb8d832a. Overall impact: These changes reduce operational risk, improve data fidelity for model training, and enable more reliable VR-enabled remote operation, contributing to faster delivery cycles and more robust, testable behavior in production. Technologies/skills demonstrated: VR integration and data collection tooling, video recording and playback workflows, action primitives and motion planning, backend stabilization, NumPy/PyTorch interoperability, testing and code refactoring.
12 Commits • 4 Features
Dec 1, 2024December 2024 — OmniGibson (StanfordVL) delivered a focused set of reliability, data fidelity, and VR/robot control improvements across four key areas. The work emphasizes business value by stabilizing remote operation, improving data collection and training data quality, and strengthening backend reliability for production use. Key deliverables: - VR Teleoperation and Headset Interaction Enhancements: stabilized teleoperation and headset integration through anchor alignment, camera activation, and VR update loop optimizations; added free head orientation and FOV controls for deeper immersion and more granular data collection. Commits: bf3c2f90c66b85f72055d04a72952037beb00585; 397a34de8004d10b2a4a10deccd56342b6c3a209; 4377a57969ed1c36ae416b36781bcac0d106ca59; deccf82fc1f3dec0a7c6a4e598f0eb1d16e61626; 54a351d10567bb9cde542a66c01f677fcd4b942a. - Robotic Action Primitives Stability and Planning Robustness: improved action primitives reliability, refined planning parameters, and streamlined initialization and loading configurations to enhance robustness and reduce failures during autonomous or semi-autonomous runs. Commits: f24e4b999641c47613d515587a7f7aea1b61ce82; a997b28b8e55f0b7e9248a68871cd84eec6723fa. - Data Collection and VR Recording Enhancements: added support for saving and playback of episodes with video recording during playback; introduced a recording flag to the data wrapper for granular VR data control and better compatibility with VR usage. Commits: 9615cd6bd3b24463e641348a6d2bbeb6c40055b0; c10ed284eef27ab47923c6e2588fe4b3d10e421e. - Robot Control Backend Stabilization and Testing Adjustments: stabilized the backend, aligned NumPy/PyTorch command handling, added default command limits, and updated unit tests and controller backend cleanup to reduce regressions. Commits: 20d4da2d7b609a627a2ad4b8164c1ddaf9e57591; 1eb7244f6bbbe21d46a6ed7f5a3537b8104c5851; 1c57085fd8c4e77ad305c21eae216a51bb8d832a. Overall impact: These changes reduce operational risk, improve data fidelity for model training, and enable more reliable VR-enabled remote operation, contributing to faster delivery cycles and more robust, testable behavior in production. Technologies/skills demonstrated: VR integration and data collection tooling, video recording and playback workflows, action primitives and motion planning, backend stabilization, NumPy/PyTorch interoperability, testing and code refactoring.
December 2024
November 2024
21 Commits • 6 Features
Nov 1, 2024In November 2024, the OmniGibson development team delivered a CuROBO-based manipulation stack that replaces OMPL, enabling batched planning and collision checks, with memory-aware configuration and broader multi-arm support (Tiago adaptation). The effort also improved grasp reliability, robustness of primitives, and control stack quality across tracking and arm management.
November 2024
21 Commits • 6 Features
Nov 1, 2024In November 2024, the OmniGibson development team delivered a CuROBO-based manipulation stack that replaces OMPL, enabling batched planning and collision checks, with memory-aware configuration and broader multi-arm support (Tiago adaptation). The effort also improved grasp reliability, robustness of primitives, and control stack quality across tracking and arm management.
October 2024
5 Commits • 2 Features
Oct 1, 20242024-10 Monthly Summary for StanfordVL/OmniGibson: Focused on delivering immersive VR scene exploration and robot-control capabilities, advancing teleoperation and XR integration, and expanding VR readiness. Highlights include two major feature sets in OmniGibson, stability-oriented infra refinements, and platform-enabling extensions that increase business value and developer capabilities.
5 Commits • 2 Features
Oct 1, 20242024-10 Monthly Summary for StanfordVL/OmniGibson: Focused on delivering immersive VR scene exploration and robot-control capabilities, advancing teleoperation and XR integration, and expanding VR readiness. Highlights include two major feature sets in OmniGibson, stability-oriented infra refinements, and platform-enabling extensions that increase business value and developer capabilities.
October 2024
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Quality Metrics
Correctness84.8%
Maintainability85.6%
Architecture81.6%
Performance76.2%
AI Usage21.4%
Skills & Technologies
Programming Languages
BDDLBashC++CSSDockerfileHTMLImageJavaScriptKitLisp
Technical Skills
3D Environment3D Graphics3D Math3D Rendering3D Simulation3D Transformations3D VisualizationAIAI PlanningAI/MLAPI DesignAPI DevelopmentAPI IntegrationAPI RefactoringAccess Control
Repositories Contributed To
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