RACECAR: A Powerful Platform for Robotics Research and Teaching

Massachusetts Institute of Technology student autonomous robot project. Outline: Section 1:Introduction Section 2:Course Description Section 3:Images Section 4:Hardware Overview Section 5:Software OverView Section 6:Algorithm introduction Section 7:Conclusion Introduction The origin of the robotic mini-car race is an MIT’s robotics course called “Robotics: Science and Systems” (6.141/16.405). Its goal is teaching robotics with the RACECAR platforms. […]

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A Neural Network in 10 lines of CUDA C++ Code

Purpose: For education purposes only. The code demonstrates supervised learning task using a very simple neural network. Reference: inspired by Andrew Trask‘s post. The core component of the code, the learning algorithm, is only 10 lines: The loop above runs for 50 iterations (epochs) and fits the vector of attributes X to the vector of […]

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A Neural Network in 10 lines of C++ Code

Purpose: For education purposes only. The code demonstrates supervised learning task using a very simple neural network. In my next post, I am going to replace the vast majority of subroutines with CUDA kernels. Reference: Andrew Trask‘s post. The core component of the code, the learning algorithm, is only 10 lines: The loop above runs for 50 iterations […]

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Julia, Matlab, and C

Julia is a new language in the same arena as Matlab or R. I’ve had failed attempts to quit the Matlab addiction in the past, making me generally quite conservative about new platforms. However, I’ve recently been particularly annoyed by Matlab’s slow speed, evil license manager errors, restrictions on parallel processes, C++ .mex file pain, […]

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Graphical Models Toolbox

I’m releasing code for a “toolbox” of code for learning and inference with graphical models. It is focused on parameter learning using marginalization in the high-treewidth setting. Though the code is, in principle, domain independent, I’ve developed it with vision problems in mind. This means that the code is A) efficient (all the inference algorithms […]

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