A short tutorial on how to build C++ programs.
A collection of notes on numerical optimization (still in development).
Notes on implementing a feedback linearization controller for a double pendulum.
Notes on motion planning for bipedal locomotion.
A summary of concepts for rigid transformations plus some derivations for confusing problems.
This repo contains starter code and examples for running simulations in MuJoCo with its Python bindings.
A modular and minimal implementation of PPO that I created to aid my research.
This blog shows how to perform the cart-pole swing-up task using model predictive control (MPC).
Slides for a talk I gave on control barrier functions at New York University.
An overview of linear time-invariant systems and their properties.
The blog is derived from my notes for the Mathematics of Deep Learning course at NYU taught by Joan Bruna.
Notes on Fourier analysis based on a video series from Steve Brunton.
Some notes on gradient descent convergence analysis, along with its proof.
Some notes on gradient descent, backtracking and exact line search.
A list of operations that preserve convexity on both convex sets and functions.
Getting egocentric global maps in HouseExpo.
As topic.