03 — WritingEssays · tutorials · research notesRSS ↗

Writing, thinking out loud.

On robotics research, machine learning, and building with AI tools.

  1. cost to reach the accuracy target for each solver
    2026.10Robotics30 minThermox Refinement BenchmarkCan a thermodynamic linear-algebra chip help a robot? 17 problems, three solver families, real hardware limits.Read →
  2. one task written for each layer of the stack, from English intent to a latent vector
    2026.09AI and tools15 minUniversal Coding LanguageWhere programming goes when AI coding agents write most of the code.Read →
  3. a simulated 3-channel tactile map with normal force and shear
    2026.07Robotics1 minSimulating a Tactile Sensor in MuJoCoNotes on building a MuJoCo approximation of a 3-channel tactile sensor.Read →
  4. the VQE loop
    2021.12Tutorials3 minVariational Quantum Eigensolver From ScratchA compact explanation of VQE and the parts needed to implement it.Read →
  5. 2021.12Tutorials1 minGetting Started With WebotsA beginner tutorial for creating a Webots project, adding an e-puck robot, and writing simple controllers.Read →
  6. HMM tagger pipeline
    2019.12Tutorials3 minHMM-Based POS Tagger on the Brown CorpusImplementing a Hidden Markov Model part-of-speech tagger in Python from scratch: counting frequencies, estimating emission and transition probabilities, and decoding with the Viterbi algorithm.Read →