Pick and Place with the SO-101 Robot Arm
An end-to-end robotics project covering inverse kinematics, motion planning, computer vision, sim-to-real transfer, and ACT imitation learning.
Mario Gemoll
Latest posts
LLM Posttraining
A guide to LLM posttraining basics: LoRA, SFT, RLHF, RLVR.
Reinforcement Learning
Foundations of reinforcement learning, from Markov decision processes and value functions to dynamic programming, Monte Carlo methods, temporal-difference learning, and policy gradients.
Diffusion
Extending the flow matching framework to diffusion models.
Flow Matching
An overview of flow matching techniques for generative modeling.
Attention Is All You Need
Describing the training of an encoder-decoder transformer, following the "Attention Is All You Need" paper.
Parallel Corpus Viewer
A viewer for the datasets used to train the model for the Attention Is All You Need page.
Normalizing Flows
A page exploring the basics of normalizing flows.
Variational Autoencoders
An interactive exploration of Variational Autoencoders (VAEs) with theory, implementation details, and live demonstrations using a synthetic dataset.