Notes

These are informal, evolving technical notes. They are written while learning, revisiting, or stress-testing ideas. Clarity is sometimes sacrificed for rigor. Errors and gaps are part of the process.

Ongoing research

• Equivalence between ARMTD and its Smooth Reformulation
• Tapered Capsule Signed Distance Function

Working notes

• Convex Separation Theorems
• Convex Sets and Convex Functions
• Denoising Diffusion Probabilistic Models (DDPMs)
• Equations of Motion for Underactuated Systems
• Recursive Newton-Euler Algorithm: Lie Algebra Formulation
• Subgradients of Convex Functions
• Variational Autoencoders (VAEs)