M9G (Minsu Chang, Ph.D. / 장민수 / mincasurong) — Robotics, Physical AI & Agentic Systems https://mincasurong.github.io/ Official portfolio and engineering blog of Minsu Chang, Ph.D. (장민수, mincasurong, M9G): 1st-Place Winner at Google Gemini 3 Seoul Hackathon 2026, Multi-Robot VLA Benchmarks in NVIDIA Isaac Sim 6.0 & ROS 2, ROS/MoveIt/Jetson Nano Tutorials, 16 Publications, and 11 US/KR Patents. en-us Sun, 25 Oct 2026 07:00:00 GMT Project STAMP: Decoupling Multimodal VLA Reasoning from Robot Execution via Deterministic Pre-Dispatch Gating and Fault Write-Back https://mincasurong.github.io/blog/stamp/ https://mincasurong.github.io/blog/stamp/ Sun, 25 Oct 2026 07:00:00 GMT M9G-TR-2026-03 by Minsu Chang, Ph.D. (M9G): A 4-stage closed-loop Spatial, Task & Motion Planning (STAMP) framework (Plan -> Gate -> Execute -> Write-Back) achieving 100% deterministic fault interception and 100% episode completion across 1,000 multi-arm episodes. Building a Multi-Agent Coding Harness from Scratch and Why It Failed: Inside m9g-agent-corps vs. OmO, OpenCode, Claude Code, and Antigravity https://mincasurong.github.io/blog/m9g-agent/ https://mincasurong.github.io/blog/m9g-agent/ Tue, 20 Oct 2026 09:00:00 GMT M9G-TR-2026-02 by Minsu Chang, Ph.D. (M9G): What we investigated across 28 Python modules and 169 unit tests while building m9g-agent-corps, why our standalone harness failed against OmO, OpenCode, Claude Code, and Antigravity, and how we pivoted its substrates into the m9g-mcp power-tool server. Empirical Comparison of VLA Task Planners on a 3-Arm 9-Block Tower in NVIDIA Isaac Sim 6.0 & ROS 2 Jazzy https://mincasurong.github.io/blog/ https://mincasurong.github.io/blog/ Sun, 18 Oct 2026 09:00:00 GMT Benchmarking Gemini Robotics-ER 2, Gemini 4 Argon, and hybrid Argon + Flash-Lite task planners on 3 Franka Emika FR3 robotic arms in Isaac Sim 6.0 by Minsu Chang (장민수, mincasurong, M9G). ROS 2, MoveIt 2 & NVIDIA Jetson Nano Camera Vision Tutorials Hub (12 Hands-On Modules) https://mincasurong.github.io/tutorials/ https://mincasurong.github.io/tutorials/ Sat, 24 Oct 2026 09:00:00 GMT Complete hands-on robotics manipulation, mobile navigation, and NVIDIA Jetson Nano SSD-MobileNet / TensorRT transfer learning tutorials by Minsu Chang, Ph.D. (장민수, mincasurong, M9G). Patents, Publications, Medical Robotics (SUBAR) & Research Archive — Minsu Chang, Ph.D. (장민수 / M9G) https://mincasurong.github.io/archive/ https://mincasurong.github.io/archive/ Sat, 24 Oct 2026 09:00:00 GMT 11 US/KR Patents, 16 Peer-Reviewed Publications (ICRA, IEEE TNSRE, ICORR), KFDA-certified lower-limb rehabilitation exoskeleton SUBAR & AI Therapist videos, Google Cloud OnBoard recap, and Sogang Univ. LQR/MATLAB control lectures.