Lie group and lie algebra for robotics

lie group matrix lie algebra

SE(2) is the Special Euclidean group in two dimensions, and it’s fundamental in robotics, control, and computer vision for describing rigid-body motions (translations + rotations) in a 2D plane.

12 August 2025

Adaptive and Optimal Control

control theory adaptive control

This is a compact reference, moving from stability of LTI and nonlinear systems to adaptive and robust control, and then to optimal control and reinforcement learning.

10 May 2025

How to Build Your Retrieval-Augmented Generation (RAG)

RAG LLM NLP

A practical and detailed guide to RAG, covering fundamentals, data preparation, retrieval pipelines, and evaluation methods for building reliable domain-specific LLM applications.

01 January 2025

connect airpods in Ubuntu 22.04 LTS

bluetooth airpods ubuntu

Fix the error happened when qqmusic new installed, probably because of high resolution of screen

25 October 2024

rendering and control of Nova5 arms with robotiq 2F85 gripper within Isaac Sim 4.2

Isaac Sim Nova5 robotiq Simulation

Find a way to have graphical output from the ssh server in Windows 10 wsl2

07 October 2024

Forwarding Graphics to SSH Client in WSL2 with VcXsrv Success!

SSH WSL2

Forward the graphical output from ssh server to wsl2 in windows 10

17 September 2024

qq音乐linux报错

qqmusic linux

Fix the error happened when qqmusic new installed, probably because of high resolution of screen

03 July 2024

Indentation of Nested Expendable Sections

Markdown HTML

Implementation of nested collapsable sections with indentation, which I try to make the nested lists in posts look great.

13 June 2024

Ethical Principles

Ethics Lab

Ethics fetched from the lab manual by deleting the confidential information. It serves as an examination of the doctoral course "Research Ethics for Science and Technology," which I took in the year 2024.

13 June 2024

Dummy Posts

ignore me

Minimalism is the art of knowing how much is just enough. Digital minimalism applies this idea to our personal technology. It’s the key to living a focused life in an increasingly noisy world.

20 February 2019