Blogs - RL • Generative Model • Control • Humanoid Animation • Philosophy
13. Philosophy
Learning notes on philosophy.
12. DAgger
Learning notes on Dataset Aggregation (DAgger).
11. The Bitter Lesson — Reflections on Sutton’s Talk
Notes on Richard Sutton’s “Bitter Lesson”: human heuristics vs. large-scale learning and search, and what prediction learning means for how machines (and humans) learn.
10. Riccati Equation
Notes on the algebraic and differential Riccati equation in optimal control (LQR).
9. Order of the System
Why don’t we use triple-dot or higher-order derivatives to model dynamic systems?
8. Sliding Mode Control — Reaching Speed
Notes on the reaching law and reaching speed in sliding mode control, and how they trade off chattering against convergence time.
7. Euler Angles & Gimbal Lock
Why Euler angle parameterizations of rotation suffer from gimbal lock, and what alternatives (quaternions, rotation matrices) buy you.
6. Nonlinear Systems Fun Fact
Small facts and intuitions collected while studying nonlinear systems — phase planes, $\dot{x}=f(x)$ behavior, and the geometry behind them.
5. Flow Matching Explained
An intuitive explanation of Flow Matching for generative modeling as an alternative to diffusion models.
4. Survey Paper : Robot Skills & Future Directions
View my survey paper on robot skills with an interactive PDF viewer. Navigate pages, zoom in/out, and download directly from the browser without leaving the site.
3. PPO: Proximal Policy Optimization
The contemporary RL algo used widely in robotics sim2real.
2. Nonlinear Systems — Complete Notes
Complete notes on nonlinear systems: stability theory, Lyapunov methods, contraction mapping, and existence/uniqueness. Taught by Prof. Koushil Sreenath. in ME 237
1. Policy Gradient & Actor-Critic Explained
Explanation of Policy Gradient and Actor-Critic methods in Reinforcement Learning, taught by Prof. Sergey Levine in CS185 2026
14. Magic Gate
a wonderland of questions and wanderings
