Simplicial

A few months ago, I saw this excellent video about mechanistic interpretability of large language models.

Why do this?

I’ve developed a method to compute the closest point to the origin on any simplex (triangle, tetrahedron, etc.) of any degree, in any dimension.

I’ve had a few people reach out about what I would recommend for some further reading in robotics, and I’m compiling some of my recommendations here to share.

I’m finally published!

It’s been a bit since I published my first post on this project, and that’s because calibration took me a lot longer to figure out than I expected.

This post is the first in a series documenting my work on a low-cost infrared camera tracking system.

In a previous notebook we explored the concept of nullspace, and I mentioned that there are lots of different applications for this.

I just finished working on a Python script that can automatically generate a URDF file from a set of DH parameters.

Singularity is an important concept when it comes to robotic manipulators, but many robotics professors provide students with definitions that don’t tell the whole story.