Posts

• Apr 7, 2023

  Lie Groups - Part 2

  I'll continue the discussion of Lie Groups into the realm of calculus on Lie Groups; we'll finish applying them to the robotic state estimation.
• Apr 2, 2022

  Lie Groups - Part 1

  I'll introduce concept of Lie Groups and how they can be useful for working with constrained surfaces like rotations; we'll also apply them to the problem of accurate robotic state estimation.
• Sep 24, 2021

  Manifolds - Part 3

  In the last part, I'll show how we can define curvature on a manifold by extending calculus to work on manifolds with the covariant derivative!
• May 30, 2021

  Manifolds - Part 2

  In the second part, I'll construct a manifold from scratch and redefine vectors, dual vectors, and tensors on a manifold.
• Feb 10, 2021

  Manifolds - Part 1

  As the first in a multi-part series, I'll introduce manifolds and discuss how vectors, dual vectors, and tensors work in a flat, Euclidean space.
• Dec 28, 2020

  Particle Filters for Robotic State Estimation

  Going beyond EKFs, I'll motivate particle filters as a more advanced state estimator that can compensate for the limitations of EKFs.
• Oct 5, 2020

  Extended Kalman Filtering for Robotic State Estimation

  I discuss a fundamental building block for state estimation for a robot: the extended kalman filter (EKF).
• Jan 20, 2019

  Deep Reinforcement Learning: Policy-based Methods

  I discuss state-of-the-art deep RL techniques that use policy-based methods.
• Dec 23, 2018

  Deep Reinforcement Learning: Value-based Methods

  I overview some of the fundamental deep reinforcement learning algorithms used as the basis for many of the more advanced techniques used in practice and research.
• Aug 30, 2018

  Reinforcement Learning

  I describe the fundamental algorithms and techniques used in reinforcement learning.
• Aug 8, 2018

  Undergraduate Research

  I chronicle some lessons learned from my 2.5 years as an undergrad student researcher.
• Jun 24, 2018

  Sequence-to-Sequence Models

  I discuss the magic behind attention-based sequence-to-sequence models, the very same models used in tasks such as machine translation.
• May 8, 2018

  Undergraduate Tips and Tricks

  After finishing finish my undergrad, I'll share some pointers (pun absolutely intended) that I've learned over the past few years.
• Nov 25, 2017

  Restricted Boltzmann Machines

  I'll explain one of the more difficult unsupervised neural networks in detail using examples and intuition.
• Nov 22, 2017

  Understanding Backpropagation

  I'll discuss the backpropagation algorithm on various levels using concrete examples.
• Jan 15, 2017

  Depth Perception: The Next Big Thing in Computer Vision

  Devices like the HoloLens and Tango have depth-sensing capabilities, allowing for a completely different level of augmented reality.

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