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
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.
Jul 30, 2018
Neural Networks and Adaptive Control
This post deals with understanding the the role of neural networks in adaptive control theory. It is mostly based on my oral presentation at 2017 IROS and at Google Robotics in Mountain View.
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 11, 2017
Understanding Generative Adversarial Networks
Deciphering Generative Adversarial Networks
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.
Dec 23, 2016
Algorithms and Data Structures
C++/Python Implementation of Common Algorithms and Data Structures
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
Jul 1, 2014
Why bother with a PhD?
Yes, I might spend my free time differently than most, but I think synthesizing disparate sets of data and making robots fly, track objects and help humans live better is sexy.