Xingxin He focused on stabilizing duration-based trajectory queries in the moveit2 repository, addressing a critical out-of-bounds indexing issue in the findWayPointIndicesForDurationAfterStart function. By refactoring the code to use deque.at for safer access, Xingxin prevented potential crashes and undefined behavior in robotics applications. The solution included comprehensive unit tests in C++ that covered edge cases such as empty trajectories and negative durations, ensuring robust validation. Collaborating with co-authors, Xingxin improved the reliability and safety of trajectory queries. This work demonstrated depth in C++ development, robotics, and unit testing, contributing to safer and more predictable motion planning workflows.