All Posts
- AI Market Makers November 8, 2025
Framework for thinking about a type of startup that might succeed.
- Reinforcement Learning Papers October 8, 2025
Reading list of modern reinforcement learning papers.
- Skipping Stones October 7, 2025
A vignette about searching.
- The Embodied Internet August 13, 2025
In the same way that a free and open internet laid the foundation for most of AI today, a free and open "robonet" will lay the foundation for the future of embodied AI.
- Quotes I Like April 11, 2025
A growing collection of quotes that I find meaningful.
- On Competition February 27, 2025
Some unstructured thoughts on what it means to be competitive.
- Tools That I Like January 11, 2025
A short, utilitarian write-up of the tools that I like to use in different domains.
- Robotics Predictions for 2025 December 23, 2024
Some predictions for how the robotics landscape looks next year, with varying degrees of confidence.
- Affine Transforms March 26, 2024
A perpetual pain point for people working on computer vision is dealing with affine transformations. This post provides a simple example of how to reason about them.
- Why K-Scale Wins March 1, 2024
A copy of the business plan I wrote for K-Scale Labs when I was initially raising money, outlining my thoughts about how the space would likely develop and how I felt I could build a company to take advantage of these developments.
- Starting a Startup, Reloaded January 22, 2024
My "Starting a Startup" post from a few months ago needed a refresh. This is a new version with my updated thoughts about what a successful startup looks like.
- The Sand Mandala November 21, 2023
A vignette about purpose.
- Monotonic Attention November 9, 2023
Write-up explaining my implementation of monotonic attention using a probabilistic graphical model.
- Retentive Networks and RWKV September 16, 2023
A short, hand-wavy explainer for the mathematical intuition behind faster attention mechanisms.
- Miscellaneous Azure Notes September 14, 2023
Miscellaneous notes about various Azure-related things.
- Miscellaneous AWS Notes September 13, 2023
Miscellaneous notes about various AWS-related things.
- Streaming Convolutions August 24, 2023
Working out the math for streaming convolutions.
- Diffusion verses Flow Matching July 19, 2023
An accessible introduction to diffusion and flow matching models. This post aims to be both complete and easy-to-follow as a reference for implementing diffusion models yourself.
- Fast Attention Implementations June 29, 2023
A reference collection of fast attention implementations.
- Starting a Startup June 27, 2023
I left FAIR to start a startup a few weeks ago, and figured I should describe what we're actually doing.
- RWKV Language Model Math June 16, 2023
In-depth explanation of the math behind the RWKV model, with PyTorch implementations, plus a discussion of numerical stability.
- Types of Electrical Connectors for Batteries March 6, 2023
A collection of the different types of electrical connectors that might be relevant for robotics.
- Types of Gears March 6, 2023
A reference for the different types of gears that might be relevant for robotics applications.
- Possible Ideas for Robotics Startups December 25, 2022
A list of ideas for robotics startups, focusing on things that are feasible right now and things that will likely become feasible in the next few years.
- Getting Started with ROS 2 November 7, 2022
An actually good guide to getting started with ROS 2.
- Robotics Pre-training Idea November 1, 2022
A collection of my ideas relating to robotics pre-training.
- PID Controller Explainer September 29, 2022
Simple overview of what a PID controller is, how it works, and how to make one yourself.
- Life in the Big Apple August 8, 2022
Miscellanous update about various life things.
- Three Months of Daily Journaling July 26, 2022
Meta-journal about journaling for more consecutive days than I initially thought I would, and whether or not it is a worthwhile habit to cultivate.
- Monitoring Background GPU Usage July 21, 2022
Python code snippit for doing background GPU monitoring using `nvidia-smi`.
- What I've Been Up To Lately October 5, 2021
Short post about what I've been up to lately.
- Numpy Array Stream to Video April 29, 2021
Short post with code snippits for creating videos from Numpy arrays in Matplotlib.
- Visiting the United Kingdom December 18, 2020
Reflections on our time in the United Kingdom during the Covid-19 pandemic.
- Engagement August 22, 2020
I got engaged to a really wonderful girl.
- Useful bash / zsh Profile Additions May 27, 2020
Some functions I found useful to add to my bash and zsh profile.
- Optimized Log-Sum-Exp PyTorch Function May 20, 2020
A walkthrough of how to optimize the log-sum-exp function in PyTorch.
- Torch CUDA Extension Tricks May 6, 2020
Some tricks I found useful for writing CUDA extensions for PyTorch.
- HMMs and CRFs April 7, 2020
A comparison of Hidden Markov Models and Conditional Random Fields, two kinds of probabilistic graphical models.
- Recap from MIT Covid-19 Challenge April 5, 2020
Recap and potential future directions from the MIT Covid-19 Challenge.
- "The Decadent Society" Book Review March 22, 2020
Summary and thoughts about The Decadent Society: How We Became the Victims of Our Own Success by Ross Douthat.
- Coding the Viterbi Algorithm in Numpy March 15, 2020
A demo of how to code the Viterbi algorithm in Numpy.
- Roaming through Japan May 8, 2017
Exploring the Land of the Rising Sun for 19 days by train, through Tokyo, Nikko, Sendai, Sapporo, Kyoto, Osaka and Nagoya.
- How I Spent Spring Break in Cuba March 4, 2017
A field guide to traveling to Cuba, written by naive college students for naive college students, mostly as exposition.
- Using Gensim Word2Vec Embeddings in Keras August 2, 2016
A short post and script regarding using Gensim Word2Vec embeddings in Keras, with example code.
- Restricted Boltzmann Machines July 18, 2016
Building on the Recurrent RBM for sequence modeling. This post relates to what I am doing for my Master's thesis.
- Touring the United States and Canada May 11, 2016
Narration from my trip through Nashville, Chicago, Toronto, Montreal, and Washington DC.
- Question Answering using Keras April 27, 2016
An in-depth introduction to using Keras for language modeling; word embedding, recurrent and convolutional neural networks, attentional RNNs, and similarity metrics for vector embeddings.
- Atlanta Craft Beer Reviews March 30, 2016
Some facts and very sarcastic opinions regarding craft beers that can be bought at the Krogers near my apartment.
- A Neural Network in 28 Lines of Theano February 23, 2016
A quick introduction to using Theano for deep learning, from the bare-bones to a full neural network.