Author: alphonsus

And thou art dead, as young and fair As aught of mortal birth; And form so soft, and charms so … Continue ReadingAnd Thou Art Dead As Young and Fair by Lord Byron

Link to the performance: https://youtu.be/zGBXA1tBiLw Totentanz in English means Dance of the Dead. How does one begin to write about a … Continue ReadingFranz Liszt’s Totentanz as Performed by Valentina Lisitsa

When I plan to visit a new city, say Pittsburgh, for a conference, I generally do not plan in terms … Continue ReadingSkill discovery through Skill Chaining

I’m on a journey through the murky lairs of model-based learning. I explored model-based control methods, mainly MPCs over the … Continue ReadingMessing with Mujoco-py Simulator (Tosser Robot)

Model Predictive Control (MPC) is a feedback control algorithm that uses a model to make predictions about future outputs of … Continue ReadingModel Predictive Control

Policy search is a field in Reinforcement Learning that involves finding good parameters for a policy parametrization. Policy search is … Continue ReadingA primer on Policy Search

Kullback-Leibler divergence (KL divergence) has its origins in information theory. It is a measure of how much information is lost … Continue ReadingA primer on KL Divergence