By domain · 按方向
Robotics机器人
Embodied AI: manipulation, perception, VLAs and teleoperation — 4 notes, primary or secondary.
- Note2026.09Action Tokenization: Discretizing Continuous Actions
The chain "continuous action → discrete token → continuous action", unpacked into the background each link requires — π₀-FAST's discrete autoregressive route against FSQ, Binning and flow matching.
- Note2026.08Autoregressive Models: BERT / GPT and Prefix-LM
Which sequence-modelling paradigms exist, what separates BERT from GPT, and why robot VLAs such as π₀-FAST use a hybrid of the two called Prefix-LM.
- Note2026.08Fourier & DCT: From Frequency to Energy Compaction
From Fourier series to the DCT's energy-compaction property — why a DCT makes a smooth signal's energy pile up onto a handful of low-frequency coefficients.
- Note2026.08Lie Theory: An Intuitive Introduction
Lie theory carries optimization over curved spaces — rotations, poses — back into ordinary vector calculus, from manifolds and tangent spaces to hat/vee, exp/log and a hand-written SO(3).