Blog of KzA Ph.D. candidate @ NJU CITE LAB Roboticshttps://kzzzza.github.io/en/2026-10-03T02:00:00.000ZKzHexoThe Mathematics of the Rubik's Cube: Permutations, Groups, and the State Graphhttps://kzzzza.github.io/en/2026/10/03/魔方中的群论与图论/2026-10-03T02:00:00.000Z2026-10-03T02:00:00.000ZI saw an animation that represents a Rubik's Cube as three groups of rings, and I wanted to understand two things: why can those dots stand in for the colored stickers on the cube? And does understand…vMF Distributionhttps://kzzzza.github.io/en/2026/09/23/vMF分布/2026-09-23T10:44:33.000Z2026-09-23T10:44:33.000ZRead a paper on Zero-Shot (Zero-Shot Adaptation of Behavioral Foundation Models to Unseen Dynamics) In it, different latent representations are used for RL tasks and RL dynamics Using the dynamics lat…Codex Login Issue Resolutionhttps://kzzzza.github.io/en/2026/09/23/Codex登陆问题解决/2026-09-23T00:39:43.000Z2026-09-23T00:39:43.000ZBasic Information: System environment: Linux desktop Application: Codex desktop Proxy tool: Clash Verge Port number: 7897 Network prerequisite: The browser can access ChatGPT normally, and IPv6 has be…Some Good Lyrics-Writing Recordshttps://kzzzza.github.io/en/2026/09/15/一些好的填词记录/2026-09-15T16:59:03.000Z2026-09-15T16:59:03.000ZYes, this is a lyrics collection. On Bilibili and other platforms, there are some lyric rewrites and cover versions of modern songs. I really enjoy listening to songs while reading the lyrics. Althoug…Reading Notes on "Poetic Remarks in the Human World, Annotated by Ye Jiaying"https://kzzzza.github.io/en/2026/09/07/读书笔记《人间词话》1/2026-09-07T11:32:22.000Z2026-09-07T11:32:22.000ZRecently, due to severe insomnia, I gave up my usual trashy novels and Bilibili videos before bed, dug out the Kindle reader I bought long ago, and figured out how to copy various forms of e-books dir…MAC network fix: manual DNS causes campus network authentication failurehttps://kzzzza.github.io/en/2026/06/12/Bug_mac_network_dns_fix/2026-06-12T04:00:00.000Z2026-06-12T04:00:00.000ZEnvironment Setup Device: MacBook Air M5 System: macOS Tahoe 26.4.1 Network: NJU campus network (Web Portal authentication, requires student/staff account login) Problem Description After connecting t…How do agents manage a research knowledge base?https://kzzzza.github.io/en/2026/06/09/Tool_agent_paper_research/2026-06-09T18:00:00.000Z2026-06-09T18:00:00.000ZRecently I've spent quite a bit of time figuring out how to get AI agents to help me read papers more effectively. The process went through roughly three stages, each one fixing the problems of the pr…Retargeting Revolution: Why Motion Retargeting Is Becoming the Key to Humanoid Robot Intelligencehttps://kzzzza.github.io/en/2026/06/09/Note_retarget_survey/2026-06-09T04:00:00.000Z2026-06-09T04:00:00.000ZSubtitle : How four paradigm-shifting papers are redefining the bridge from human motion to robot behavior Abstract For a long time, motion retargeting—the process of mapping human motion capture data…Mac Development Toolchain Configuration Noteshttps://kzzzza.github.io/en/2026/05/31/Tool_mac_dev_toolchain/2026-05-31T04:00:00.000Z2026-05-31T04:00:00.000ZRecently I set up a complete development toolchain on my Mac from scratch — from terminal emulator to editor, from dotfiles management to shell theming — and it took about a weekend of tinkering. Befo…UV Getting Started Noteshttps://kzzzza.github.io/en/2026/05/27/Tool_uv_python_env/2026-05-27T08:00:00.000Z2026-05-27T08:00:00.000ZWhy I Started Using uv Some open-source projects I've recently been involved with have started using uv as their package manager, and there's a next to every . I'd always used conda to manage Python e…From Dayan's Successor Representation to BFM for Humanoid Robots: Decoupling Environment Dynamics and Task Rewardhttps://kzzzza.github.io/en/2026/05/27/Note_bfm_survey/2026-05-27T05:15:36.000Z2026-05-27T05:15:36.000ZAbstract In 1993, Peter Dayan wrote in a paper: Representation is the key—view a problem in the right way and it becomes easy. The right way he proposed was this: represent a state not by what it look…Application of Force-Estimation-Based Hybrid Force-Position Control in Humanoid Robotshttps://kzzzza.github.io/en/2026/05/12/Note_forcectrl4wbc/2026-05-12T11:00:00.000Z2026-05-12T11:00:00.000ZSixteen papers, five technical routes, one universal equation Abstract : When humanoid robots are deployed in human environments such as homes, hospitals, and offices, they face a common control chall…Build a personal blog with Hexo + Fluid and host it on GitHub Pageshttps://kzzzza.github.io/en/2026/03/20/Tool_create_blog/2026-03-20T16:52:00.000Z2026-03-20T16:52:00.000Z1. Environment Setup Install the following tools in advance: Node.js (v16+ recommended): refer to the Runoob tutorial for installation]( https://www.runoob.com/nodejs/nodejs-install-setup.html ) Git :…Bloghttps://kzzzza.github.io/en/2026/03/14/Introduce_of_blog/2026-03-14T16:43:00.000Z2026-03-14T16:43:00.000ZAbout the Blog Why I decided to organize a blog : Since before (roughly starting from my freshman year), I got into the habit of using electronic notes to record all sorts of things. At first I kept t…RL Personal Learning Pathhttps://kzzzza.github.io/en/2026/03/14/Note_learn_rl/2026-03-14T06:21:00.000Z2026-03-14T06:21:00.000ZA reference learning path for reinforcement learning (oriented toward using RL to solve robot control problems) Prerequisites recommended before starting: Linear algebra fundamentals Calculus fundamen…