Sami Osborn is an AI and Robotics PhD researcher in the Robot Learning Lab at Imperial College London.https://samiosborn.com/en-GBhttps://samiosborn.com/projects/vision-slam/monoslam/build-logs/frontend-pose-validation/https://samiosborn.com/projects/vision-slam/monoslam/build-logs/frontend-pose-validation/Added ETH3D frontend diagnostics and pose-support guardrails to distinguish stable pose estimates from local ambiguous failures.Sun, 19 Apr 2026 00:00:00 GMThttps://samiosborn.com/projects/vision-slam/monoslam/demos/bootstrap-visualisation/https://samiosborn.com/projects/vision-slam/monoslam/demos/bootstrap-visualisation/Visual inspection of baseline selection, triangulated points, and early map quality.Fri, 20 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/vision-slam/monoslam/demos/eth3d-frontend-demo/https://samiosborn.com/projects/vision-slam/monoslam/demos/eth3d-frontend-demo/Front-end correspondence quality and inlier behaviour on ETH3D sample sequences.Thu, 19 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/vision-slam/monoslam/build-logs/keyframe-tracking/https://samiosborn.com/projects/vision-slam/monoslam/build-logs/keyframe-tracking/Integrated keyframe tracking and improved continuity under moderate viewpoint change.Wed, 18 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/vision-slam/monoslam/notes/epipolar-geometry/https://samiosborn.com/projects/vision-slam/monoslam/notes/epipolar-geometry/How epipolar constraints are used to filter correspondences before optimisation.Mon, 16 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/vision-slam/monoslam/notes/cheirality-and-parallax/https://samiosborn.com/projects/vision-slam/monoslam/notes/cheirality-and-parallax/Using positive-depth and baseline-angle checks to reject geometrically invalid reconstructions.Sat, 14 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/vision-slam/monoslam/notes/two-view-bootstrap/https://samiosborn.com/projects/vision-slam/monoslam/notes/two-view-bootstrap/Essential matrix estimation, pose disambiguation, and robust initialisation checks for monocular SLAM.Thu, 12 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/vision-slam/monoslam/build-logs/frontend-and-bootstrap/https://samiosborn.com/projects/vision-slam/monoslam/build-logs/frontend-and-bootstrap/Implemented front-end matching and first complete two-view bootstrap pass.Tue, 10 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/robotics/self-balancing-robot/demos/closed-loop-balance-demo/https://samiosborn.com/projects/robotics/self-balancing-robot/demos/closed-loop-balance-demo/Short validation runs showing baseline closed-loop balance stability.Mon, 09 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/robotics/balancebot/build-logs/embedded-bring-up/https://samiosborn.com/projects/robotics/balancebot/build-logs/embedded-bring-up/Brought up the IMU, motor driver, and encoders on the ESP32, then ran the first suspended balance-direction test.Sun, 08 Mar 2026 00:00:00 GMThttps://samiosborn.com/essays/first-principles-for-robotics-systems/https://samiosborn.com/essays/first-principles-for-robotics-systems/Why explicit modelling assumptions still matter when building modern learning-enabled robotic systems.Sat, 07 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/robotics/self-balancing-robot/notes/inverted-pendulum-linearisation/https://samiosborn.com/projects/robotics/self-balancing-robot/notes/inverted-pendulum-linearisation/Linear model derivation around the upright equilibrium and implications for controller design.Fri, 06 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/robotics/so100-arm/demos/pick-place-baseline/https://samiosborn.com/projects/robotics/so100-arm/demos/pick-place-baseline/Baseline pick-and-place routine validating control and repeatability.Thu, 05 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/learning-control/double-dqn/build-logs/baseline-training-loop/https://samiosborn.com/projects/learning-control/double-dqn/build-logs/baseline-training-loop/Completed baseline training loop and initial comparison against vanilla DQN.Mon, 02 Mar 2026 00:00:00 GMThttps://samiosborn.com/projects/robotics/so100-arm/build-logs/joint-control-baseline/https://samiosborn.com/projects/robotics/so100-arm/build-logs/joint-control-baseline/Established first reliable joint control baseline with command timing checks.Sun, 12 Oct 2025 00:00:00 GMThttps://samiosborn.com/projects/robotics/so100-arm/notes/kinematics-and-calibration/https://samiosborn.com/projects/robotics/so100-arm/notes/kinematics-and-calibration/Practical forward/inverse kinematics setup and calibration procedure for repeatable motion.Sun, 12 Oct 2025 00:00:00 GMThttps://samiosborn.com/projects/learning-control/double-dqn/demos/cartpole-evaluation/https://samiosborn.com/projects/learning-control/double-dqn/demos/cartpole-evaluation/Baseline policy performance snapshots and value estimate tracking.Sat, 17 May 2025 00:00:00 GMThttps://samiosborn.com/projects/learning-control/double-dqn/notes/double-dqn-overestimation/https://samiosborn.com/projects/learning-control/double-dqn/notes/double-dqn-overestimation/Derives mathematically how double deep Q-learning trains.Sat, 17 May 2025 00:00:00 GMThttps://samiosborn.com/projects/learning-control/xor-classification/build-logs/initial-from-scratch-implementation/https://samiosborn.com/projects/learning-control/xor-classification/build-logs/initial-from-scratch-implementation/First complete XOR classifier implementation with manual derivatives and convergence diagnostics.Sun, 23 Mar 2025 00:00:00 GMThttps://samiosborn.com/projects/learning-control/xor-classification/notes/quadratic-mlp-derivation/https://samiosborn.com/projects/learning-control/xor-classification/notes/quadratic-mlp-derivation/Model definition, manual gradient derivation, and optimisation details for XOR classification.Sun, 23 Mar 2025 00:00:00 GMThttps://samiosborn.com/projects/learning-control/xor-classification/demos/xor-training-results/https://samiosborn.com/projects/learning-control/xor-classification/demos/xor-training-results/Visual outputs from the from-scratch XOR model, including geometry, architecture, and training dynamics.Sun, 23 Mar 2025 00:00:00 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