Rico贾若童的博客

Robotics - [Jetson 2] Running the Orin: Power Modes, Benchmarking, and Pitfalls

Power modes, sustained performance, memory reporting, Wifi, and how I burned a board

This is part 2 of my Jetson notes. Part 1, Flashing the Orin Nano, covers getting JetPack onto the board. I Burned My $500 Nvidia-nano-orin This happened when I connected it to a Waveshare Rover ...

Posted by Rico's Nerd Cluster on October 4, 2026

[ML] Neural Architecture Search (NAS) in RF DETR

The main idea of the NAS RF-DETR is different resolutions do produce different size tensors and therefore different sized computation graphs, but they can still use the same learned weights. Traini...

Posted by Rico's Nerd Cluster on August 14, 2026

[ML] FiLM Block

FiLM (Feature-wise Linear Modulation ) Block A convolutional layer produces feature channels that represent learned concepts such as edges, shadows, textures, or object responses. FiLM uses the co...

Posted by Rico's Nerd Cluster on August 11, 2026

[ML] Soft Rounding - Differentiable Quantization for Neural Networks

Soft rounding is a smooth approximation to normal rounding. Normal rounding maps a continuous value to a discrete level: \[1.2 \rightarrow 1\] \[1.8 \rightarrow 2.\] This is useful for modeling ...

Posted by Rico's Nerd Cluster on August 8, 2026

[ML] Loss For Distribution Stats

loss for standard devations

Matching Real Point-Cloud Statistics with a Differentiable Distribution Loss Sometimes we want a synthetic point-cloud generator to produce range and intensity values that have the same statistica...

Posted by Rico's Nerd Cluster on August 2, 2026

[ML] Flow Matching

Optimal Transport, Concentration of Measures

1. Problem Setup and Definitions Imagine we now have a bunch of particles in the 1D world. They are all moving randomly. Along x axis, its current distribution can be characterized as a source dis...

Posted by Rico's Nerd Cluster on August 2, 2026

[ML] Straight Through Bernulli Output

1. Goal We want to use a CycleGAN to model a 3D imaging sonar that comes with random dropouts. The sonar has two channels: intensity and range. The dropout value is (0,0). As part of the CycleGAN ...

Posted by Rico's Nerd Cluster on July 31, 2026

[ML] Graph Engineering

Graph Engineering for AI Agents: Increasing Certainty by Bounding Autonomy As models become more capable, the hard problem is no longer simply getting an agent to do something. It is getting the a...

Posted by Rico's Nerd Cluster on July 28, 2026

[ML] Attention Pooling

Attention Pooling Pooling converts a variable number of vectors into one fixed-size representation. For N point features, \[\mathbf{x}_1,\mathbf{x}_2,\ldots,\mathbf{x}_N,\] max pooling independe...

Posted by Rico's Nerd Cluster on July 25, 2026

[ML] Continual Learning

LoRA, AdaBN

## 1. What continual learning actually means Suppose a detector is trained on Dataset 1. Later, Dataset 2 arrives. We want to train on Dataset 2 without keeping all of Dataset 1 in every training ...

Posted by Rico's Nerd Cluster on July 22, 2026

Rico's Nerd Cluster