Frontend Pose Validation and ETH3D Diagnostics
Added ETH3D frontend diagnostics and pose-support guardrails to distinguish stable pose estimates from local ambiguous failures.
Build logMonoSLAM
Bootstrap Visualisation
Visual inspection of baseline selection, triangulated points, and early map quality.
DemoMonoSLAM
ETH3D Front-end Demo
Front-end correspondence quality and inlier behaviour on ETH3D sample sequences.
DemoMonoSLAM
Keyframe Tracking Integration
Integrated keyframe tracking and improved continuity under moderate viewpoint change.
Build logMonoSLAM
Epipolar Geometry in the Front-end
How epipolar constraints are used to filter correspondences before optimisation.
Technical noteMonoSLAM
Cheirality and Parallax Checks
Using positive-depth and baseline-angle checks to reject geometrically invalid reconstructions.
Technical noteMonoSLAM
Two-view Bootstrap
Essential matrix estimation, pose disambiguation, and robust initialisation checks for monocular SLAM.
Technical noteMonoSLAM
Front-end and Bootstrap Baseline
Implemented front-end matching and first complete two-view bootstrap pass.
Build logMonoSLAM
Closed-loop Balance Demo
Short validation runs showing baseline closed-loop balance stability.
DemoBalanceBot
Embedded Bring-up and First Balance-Direction Test
Brought up the IMU, motor driver, and encoders on the ESP32, then ran the first suspended balance-direction test.
Build logBalanceBot
First-principles Engineering for Robotics Systems
Why explicit modelling assumptions still matter when building modern learning-enabled robotic systems.
EssayFeatured
Inverted Pendulum Linearisation
Linear model derivation around the upright equilibrium and implications for controller design.
Technical noteBalanceBot
Pick-and-place Baseline Demo
Baseline pick-and-place routine validating control and repeatability.
DemoSO100 Arm
Baseline Training Loop Complete
Completed baseline training loop and initial comparison against vanilla DQN.
Build logDouble DQN
Joint Control Baseline
Established first reliable joint control baseline with command timing checks.
Build logSO100 Arm
Kinematics and Calibration Workflow
Practical forward/inverse kinematics setup and calibration procedure for repeatable motion.
Technical noteSO100 Arm
CartPole Evaluation Demo
Baseline policy performance snapshots and value estimate tracking.
DemoDouble DQN
Double DQN Derivation
Derives mathematically how double deep Q-learning trains.
Technical noteDouble DQN
Initial From-scratch Implementation
First complete XOR classifier implementation with manual derivatives and convergence diagnostics.
Build logXOR Classification
Quadratic MLP Derivation for XOR
Model definition, manual gradient derivation, and optimisation details for XOR classification.
Technical noteXOR Classification
XOR Training Results
Visual outputs from the from-scratch XOR model, including geometry, architecture, and training dynamics.