This is a very premature and early proof of concept. But I figured I would show it because this is how I imagine the future of OOD autnomous driving to be solved, albeit with a lot more complexity and engineering. While this is still IID training, and not an OOD task, the concept still works in OOD tasks. Model was trained on racetrack oval, racetrack, and racetrack large. Conv3D encoder. Some intrinsic motivation magic. And uhh… PPO. 5120 […]

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In Robotics, one of the hardest problems is how to make your model transfer to the real world. Due to the sample inefficiency of deep RL algorithms and the cost of data collection on real robots, we often need to train models in a simulator which theoretically provides an infinite amount of data. However, the reality gap between the simulator and the physical world often leads to failure when working with physical robots. The gap is triggered by […]

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Simulation theory has been thrown around the internet for years, stemming from the early days of computing. It has long been theorized that everything around us is the result of a computer generated simulation, a fake reality that is being fed through us and presented as real. The Matrix is the first popular reference of simulation theory, and made the idea not only more understood by the general public but more accepted as well. Technology Acceleration Moore’s Law […]

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arXiv:2602.06775v2 Announce Type: replace-cross Abstract: We study the problem of learning robust classifiers where the classifier will receive a perturbed input. Unlike robust PAC learning studied in prior work, here the clean data and its label are also adversarially chosen. We formulate this setting as an online learning problem and consider both the realizable and agnostic learnability of hypothesis classes. We define a new dimension of classes and show it controls the mistake bounds in the realizable setting […]

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Discussions and questions about methods, approaches, and tools for estimating (relative) binding free energies of protein-ligand complexes are quite popular, and even the simplest tools can be quite tricky to use. Here, I want to briefly summarize the idea of molecular docking, and give a short overview about how we can use AutoDock 4.2’s hybrid approach for evaluating binding affinities.

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I recently asked myself what would happen if we replaced the standard dot-product in self-attention with a different distance metric, e.g. an rbf-kernel? Standard dot-product attention has this quirk where a key vector can “bully” the softmax simply by having a massive magnitude. A random key that points in roughly the right direction but is huge will easily outscore a perfectly aligned but shorter key. Distance-based (RBF) attention could fix this. To get a high attention score, Q […]

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The Marvel Cinematic Universe (MCU) has been ongoing since 2008. Dozens of tv shows and movies later, so many incredible characters have been introduced to the general public. Characters that were only known to comic book fans became worldwide icons. If you go anywhere in the world and say, “I am Groot,” there’s a good chance that somebody will get your reference. But even still, there are a ton of characters that have remained surprisingly unused. Here are […]

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