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And solving the linear equation system when the system matrix is a triangular matrix is very efficient!# Normal equations:(J^TJ)x = J^Ty# This is exactly our Ax = b where:A = J^TJ # symmetric positive definite!b = J^Ty# Solve using Cholesky:A = LL^T # Cholesky decompositionLy = b # Forward substitutionL^Tx = y # Backward substitution # For n×n system:General matrix: O(n³) # Using Gaussian elimin..

Lecture 1, Jan 27th, 2025, https://rdi.berkeley.edu/adv-llm-agents/slides/inference_time_techniques_lecture_sp25.pdf Background: How do we evaluate consistency of free-form answers from multiple answer generation?

What is Dual contouring?Dual contouring (DC) is a popular isosurface extraction (surface reconstruction) algorithm for converting a volumetric representation (e.g., an implicit field or voxel grid) into a polygon mesh. It is called “dual” because instead of placing vertices at the corners of each voxel cell (as in the original Marching Cubes), DC places one vertex inside each cell that contains ..

Jitendra lunch group meeting; source: (Israel / The Technion)Probability Theory 101What is the "convolution property of a PDF (probability density function)"?For two independent random variables, the PDF of their sum is the convolution of their individual PDFs. What’s the difference between "uncorrelation" and "independence" in expectation?x1​ and x2​ are uncorrelated if and only if the expectat..

What is KV caching? KV caching is specifically related to the auto-regressive approach of a transformer decoder. In a transformer decoder, it attends to the past and current tokens, but not to future tokens. At each time step, the transformer repeatedly calculates the attention scores between the query and the key, and computes the values by multiplying the scores with the previously computed va..

This always causes problems...1) fail to build mmcv from the source, which was recommended by the egohumans repo2) Why don't I just use pip and mim to install mmcv, mmdet as usual. 3) The usual mmcv installation failed to import nms from mmcv.ops import nms4) Ok, I found out that there is something called mmcv-full and I needed that for nms import (and potentially other functions that egohumans ..

Tested methods: WHAM, GVHMR, TRACETL;DRThey all give poor results. They don't have ground estimation. I made issues in each repo to clarify whether I am doing something wrong or it is the fundamental limitation of their methods. (Oct 12th, 2024)https://github.com/yohanshin/WHAM/issues/118 Fail to put multiple persons in the same world frame · Issue #118 · yohanshin/WHAMHI @yohanshin @dalgu90 , T..

top left: rgb video for reference \ top right: rectified slam left video input; right video input is omitted \ bottom left: normalized depth for visualization with a mask where approximates the overlapping regions of left and right camera FOV \ bottom right: normalized predicted disparity from RAFT-stereo 1. Preprocess SLAM left-right camera imageshttps://github.com/hongsukchoi/generic_tools/blo..

Input: Two hand keypoints from a SPML-H mesh sequenceOutput: Two Shadow robot hand joints' angles + base poseNo dynamics, just geometry. People say it's easy, but it was freaking difficult for me> Why do I choose this input and output? or what are the technical differences?Options: Humanoid, Bi-manual arms with five finger hands, Flying robot hands (what I did) Why didn't I do humanoid retargeti..

TL;DRHuman hand is a tool that has two functions: sensor and motorSummary Hand Function Categories: The framework divides hand function into four categories along a sensorimotor continuum, ranging from tactile sensing to non-prehensile skilled movements. This structure helps analyze the factors influencing human manual performance.Dual Role of the Hand: The hand serves two main functions—sensory..