Musings of an Engineer-Researcher.

• Jul 26, 2026 HJ-Gauss: A Monte Carlo HJ Reachability Scheme
  Grid-based HJ solvers scale as O(M^n) in memory. A Cole-Hopf transform turns the viscous HJ PDE into a sequence of linear heat equations whose solutions are Gaussian expectations, so the value function can be sampled instead of gridded, at O(N.n) memory. Theory, real code, and 30-seed validated numbers.


• Jul 13, 2026 Kolmogorov Regression for Robust Diffusion Policies
  


• May 24, 2026 Infinite-Dimensional Diffusion Policies via Inverse Kolmogorov PDEs
  Finite-dimensional diffusion policies drift on long-horizon tasks. Lifting the whole diffusion to function space — and learning the backward Kolmogorov PDE that a denoiser secretly approximates — buys certifiable, dimension-independent convergence. Here is the theory, the three-line code change, and the pictures.


• Aug 1, 2025 Stochastic Policies, Diffusion, Flow matching
  


• Aug 22, 2018 Optimality vs. Stability of Feedback Control Systems.
  A system under the effect of an optimal controller may not necessarily be stable.


• Aug 4, 2018 Control Commons
  Just a random collection of stability, continuity, existence, and uniqueness theorems for nonlinear control


• Aug 2, 2018 What Good Research is Not
  Curated quotes from the 'good citizen of CVPR' session at CVPR 2018.


• Jun 24, 2017 What's behind IEEE RAS Best Conference Papers?
  ... our paper bridged the strong theory with relevant practice, and made it work on real robots.


• Jun 4, 2017 On the necessary and sufficient conditions for optimal controllers
  Necessary and sufficiency conditions, differentiability and continuity assumptions, and analytical solutions to optimal control problems.


• May 14, 2017 Should I use ROS or MuJoCo?
  Good controller algorithm formulations are based on numerical optimization ...


• May 12, 2017 Twanging git pull, push and clone
  It is useful being able to share one's work among different computers using native git commands such as merge, fetch, push, clone, or pull without resolving to using ssh, scp which are without the benefits of diff and merge strategies of git.


• Apr 28, 2017 Ubuntu-16.04 and Cuda-8.0 Install Guide
  Installing NVIDIA/CUDA Libraries, without breaking Xserver in Ubuntu 16.04.


• Apr 27, 2017 PyTorch and rospy interoperability
  Avoiding pitfalls and potential landmines when installing and using the pytorch neural network framework in rospy.


• Apr 5, 2017 Backpropagation and convex programming in MRAS systems
  A contraint-based approach to solving the backpropagation optimization problem in nonlinear model reference adaptive systems.


• Jun 14, 2016 Control Theory and Machine Learning
  


• Mar 28, 2016 Cloning specific folders from git
  ...[sic] sparse checkoutallows us to sparsely populate the working directory by using skip-worktree bit to inform GIT if the file in the working directory deserves a look.


• Nov 3, 2015 Optimal Control: Model Predictive Controllers.
  Optimal controllers belong to the class of controllers that minimize a cost function with respect to a predicted control law over a given prediction horizon.


• Aug 24, 2015 Mathematical Modeling of Robots.
  


• Jul 22, 2015 Safely upgrading your linux kernel.
  We are telling GRUB to use the last-saved selection, do an auto boot-up after 5 seconds if user does nothing, and inform all kernels to reboot after 10 seconds if they die completely. Note, the TIMEOUT option is disabled in GRUB 2.02