Yoneken focused on stability and compatibility improvements in the Genesis-Embodied-AI/Genesis repository, addressing a critical issue with rotation mask handling in the RigidEntity class. Using Python and PyTorch, Yoneken corrected boolean mask inversion logic to ensure proper alignment with PyTorch 2.x, preventing axis misalignment during model training and inference. This work required careful debugging and a deep understanding of machine learning model internals, as the fix tightened mask logic to improve reliability across different PyTorch versions. Although no new features were added, the targeted bug fix enhanced the robustness of the codebase and maintained compatibility for ongoing development.