diff --git a/_posts/2022-12-01-distill-example.md b/_posts/2022-12-01-distill-example.md deleted file mode 100644 index 2d133452..00000000 --- a/_posts/2022-12-01-distill-example.md +++ /dev/null @@ -1,431 +0,0 @@ ---- -layout: distill -title: Sample Blog Post -description: Your blog post's abstract. - This is an example of a distill-style blog post and the main elements it supports. -date: 2022-12-01 -htmlwidgets: true - -# Anonymize when submitting -# authors: -# - name: Anonymous - -authors: - - name: Albert Einstein - url: "https://en.wikipedia.org/wiki/Albert_Einstein" - affiliations: - name: IAS, Princeton - - name: Boris Podolsky - url: "https://en.wikipedia.org/wiki/Boris_Podolsky" - affiliations: - name: IAS, Princeton - - name: Nathan Rosen - url: "https://en.wikipedia.org/wiki/Nathan_Rosen" - affiliations: - name: IAS, Princeton - -# must be the exact same name as your blogpost -bibliography: 2022-12-01-distill-example.bib - -# Add a table of contents to your post. -# - make sure that TOC names match the actual section names -# for hyperlinks within the post to work correctly. -toc: - - name: Equations - - name: Images and Figures - subsections: - - name: Interactive Figures - - name: Citations - - name: Footnotes - - name: Code Blocks - - name: Layouts - - name: Other Typography? - -# Below is an example of injecting additional post-specific styles. -# This is used in the 'Layouts' section of this post. -# If you use this post as a template, delete this _styles block. -_styles: > - .fake-img { - background: #bbb; - border: 1px solid rgba(0, 0, 0, 0.1); - box-shadow: 0 0px 4px rgba(0, 0, 0, 0.1); - margin-bottom: 12px; - } - .fake-img p { - font-family: monospace; - color: white; - text-align: left; - margin: 12px 0; - text-align: center; - font-size: 16px; - } ---- - -## Equations - -This theme supports rendering beautiful math in inline and display modes using [MathJax 3](https://www.mathjax.org/) engine. -You just need to surround your math expression with `$$`, like `$$ E = mc^2 $$`. -If you leave it inside a paragraph, it will produce an inline expression, just like $$ E = mc^2 $$. - -To use display mode, again surround your expression with `$$` and place it as a separate paragraph. -Here is an example: - -$$ -\left( \sum_{k=1}^n a_k b_k \right)^2 \leq \left( \sum_{k=1}^n a_k^2 \right) \left( \sum_{k=1}^n b_k^2 \right) -$$ - -Note that MathJax 3 is [a major re-write of MathJax](https://docs.mathjax.org/en/latest/upgrading/whats-new-3.0.html) that brought a significant improvement to the loading and rendering speed, which is now [on par with KaTeX](http://www.intmath.com/cg5/katex-mathjax-comparison.php). - - -## Images and Figures - -Its generally a better idea to avoid linking to images hosted elsewhere - links can break and you -might face losing important information in your blog post. -To include images in your submission in this way, you must do something like the following: - -```markdown -{% raw %}{% include figure.html path="assets/img/2022-12-01-distill-example/iclr.png" class="img-fluid" %}{% endraw %} -``` - -which results in the following image: - -{% include figure.html path="assets/img/2022-12-01-distill-example/iclr.png" class="img-fluid" %} - -To ensure that there are no namespace conflicts, you must save your asset to your unique directory -`/assets/img/2023-05-01-[SUBMISSION NAME]` within your submission. - -Please avoid using the direct markdown method of embedding images; they may not be properly resized. -Some more complex ways to load images (note the different styles of the shapes/shadows): - -
-
- {% include figure.html path="assets/img/2022-12-01-distill-example/9.jpg" class="img-fluid rounded z-depth-1" %} -
-
- {% include figure.html path="assets/img/2022-12-01-distill-example/7.jpg" class="img-fluid rounded z-depth-1" %} -
-
-
- A simple, elegant caption looks good between image rows, after each row, or doesn't have to be there at all. -
- -
-
- {% include figure.html path="assets/img/2022-12-01-distill-example/8.jpg" class="img-fluid z-depth-2" %} -
-
- {% include figure.html path="assets/img/2022-12-01-distill-example/10.jpg" class="img-fluid z-depth-2" %} -
-
- -
-
- {% include figure.html path="assets/img/2022-12-01-distill-example/11.jpg" class="img-fluid" %} -
-
- {% include figure.html path="assets/img/2022-12-01-distill-example/12.jpg" class="img-fluid" %} -
-
- {% include figure.html path="assets/img/2022-12-01-distill-example/7.jpg" class="img-fluid" %} -
-
- -### Interactive Figures - -Here's how you could embed interactive figures that have been exported as HTML files. -Note that we will be using plotly for this demo, but anything built off of HTML should work -(**no extra javascript is allowed!**). -All that's required is for you to export your figure into HTML format, and make sure that the file -exists in the `assets/html/[SUBMISSION NAME]/` directory in this repository's root directory. -To embed it into any page, simply insert the following code anywhere into your page. - -```markdown -{% raw %}{% include [FIGURE_NAME].html %}{% endraw %} -``` - -For example, the following code can be used to generate the figure underneath it. - -```python -import pandas as pd -import plotly.express as px - -df = pd.read_csv('https://raw.githubusercontent.com/plotly/datasets/master/earthquakes-23k.csv') - -fig = px.density_mapbox( - df, lat='Latitude', lon='Longitude', z='Magnitude', radius=10, - center=dict(lat=0, lon=180), zoom=0, mapbox_style="stamen-terrain") -fig.show() - -fig.write_html('./assets/html/2022-12-01-distill-example/plotly_demo_1.html') -``` - -And then include it with the following: - -```html -{% raw %}
- -
{% endraw %} -``` - -Voila! - -
- -
- -## Citations - -Citations are then used in the article body with the `` tag. -The key attribute is a reference to the id provided in the bibliography. -The key attribute can take multiple ids, separated by commas. - -The citation is presented inline like this: (a number that displays more information on hover). -If you have an appendix, a bibliography is automatically created and populated in it. - -Distill chose a numerical inline citation style to improve readability of citation dense articles and because many of the benefits of longer citations are obviated by displaying more information on hover. -However, we consider it good style to mention author last names if you discuss something at length and it fits into the flow well — the authors are human and it’s nice for them to have the community associate them with their work. - -*** - -## Footnotes - -Just wrap the text you would like to show up in a footnote in a `` tag. -The number of the footnote will be automatically generated.This will become a hoverable footnote. - -*** - -## Code Blocks - -This theme implements a built-in Jekyll feature, the use of Rouge, for syntax highlighting. -It supports more than 100 languages. -This example is in C++. -All you have to do is wrap your code in a liquid tag: - -{% raw %} -{% highlight c++ linenos %}
code code code
{% endhighlight %} -{% endraw %} - -The keyword `linenos` triggers display of line numbers. You can try toggling it on or off yourself below: - -{% highlight c++ %} - -int main(int argc, char const \*argv[]) -{ -string myString; - - cout << "input a string: "; - getline(cin, myString); - int length = myString.length(); - - char charArray = new char * [length]; - - charArray = myString; - for(int i = 0; i < length; ++i){ - cout << charArray[i] << " "; - } - - return 0; -} - -{% endhighlight %} - -*** - -## Diagrams - -This theme supports generating various diagrams from a text description using [jekyll-diagrams](https://github.com/zhustec/jekyll-diagrams){:target="\_blank"} plugin. -Below, we generate a few examples of such diagrams using languages such as [mermaid](https://mermaid-js.github.io/mermaid/){:target="\_blank"}, [plantuml](https://plantuml.com/){:target="\_blank"}, [vega-lite](https://vega.github.io/vega-lite/){:target="\_blank"}, etc. - -**Note:** different diagram-generation packages require external dependencies to be installed on your machine. -Also, be mindful of that because of diagram generation the fist time you build your Jekyll website after adding new diagrams will be SLOW. -For any other details, please refer to [jekyll-diagrams](https://github.com/zhustec/jekyll-diagrams){:target="\_blank"} README. - -**Note:** This is not supported for local rendering! - -The diagram below was generated by the following code: - -{% raw %} -``` -{% mermaid %} -sequenceDiagram - participant John - participant Alice - Alice->>John: Hello John, how are you? - John-->>Alice: Great! -{% endmermaid %} -``` -{% endraw %} - -{% mermaid %} -sequenceDiagram -participant John -participant Alice -Alice->>John: Hello John, how are you? -John-->>Alice: Great! -{% endmermaid %} - -*** - -## Blockquotes - -
- We do not grow absolutely, chronologically. We grow sometimes in one dimension, and not in another, unevenly. We grow partially. We are relative. We are mature in one realm, childish in another. - —Anais Nin -
- -*** - - -## Layouts - -The main text column is referred to as the body. -It is the assumed layout of any direct descendants of the `d-article` element. - -
-

.l-body

-
- -For images you want to display a little larger, try `.l-page`: - -
-

.l-page

-
- -All of these have an outset variant if you want to poke out from the body text a little bit. -For instance: - -
-

.l-body-outset

-
- -
-

.l-page-outset

-
- -Occasionally you’ll want to use the full browser width. -For this, use `.l-screen`. -You can also inset the element a little from the edge of the browser by using the inset variant. - -
-

.l-screen

-
-
-

.l-screen-inset

-
- -The final layout is for marginalia, asides, and footnotes. -It does not interrupt the normal flow of `.l-body` sized text except on mobile screen sizes. - -
-

.l-gutter

-
- -*** - -## Other Typography? - -Emphasis, aka italics, with *asterisks* (`*asterisks*`) or _underscores_ (`_underscores_`). - -Strong emphasis, aka bold, with **asterisks** or __underscores__. - -Combined emphasis with **asterisks and _underscores_**. - -Strikethrough uses two tildes. ~~Scratch this.~~ - -1. First ordered list item -2. Another item -⋅⋅* Unordered sub-list. -1. Actual numbers don't matter, just that it's a number -⋅⋅1. Ordered sub-list -4. And another item. - -⋅⋅⋅You can have properly indented paragraphs within list items. Notice the blank line above, and the leading spaces (at least one, but we'll use three here to also align the raw Markdown). - -⋅⋅⋅To have a line break without a paragraph, you will need to use two trailing spaces.⋅⋅ -⋅⋅⋅Note that this line is separate, but within the same paragraph.⋅⋅ -⋅⋅⋅(This is contrary to the typical GFM line break behaviour, where trailing spaces are not required.) - -* Unordered list can use asterisks -- Or minuses -+ Or pluses - -[I'm an inline-style link](https://www.google.com) - -[I'm an inline-style link with title](https://www.google.com "Google's Homepage") - -[I'm a reference-style link][Arbitrary case-insensitive reference text] - -[I'm a relative reference to a repository file](../blob/master/LICENSE) - -[You can use numbers for reference-style link definitions][1] - -Or leave it empty and use the [link text itself]. - -URLs and URLs in angle brackets will automatically get turned into links. -http://www.example.com or and sometimes -example.com (but not on Github, for example). - -Some text to show that the reference links can follow later. - -[arbitrary case-insensitive reference text]: https://www.mozilla.org -[1]: http://slashdot.org -[link text itself]: http://www.reddit.com - -Here's our logo (hover to see the title text): - -Inline-style: -![alt text](https://github.com/adam-p/markdown-here/raw/master/src/common/images/icon48.png "Logo Title Text 1") - -Reference-style: -![alt text][logo] - -[logo]: https://github.com/adam-p/markdown-here/raw/master/src/common/images/icon48.png "Logo Title Text 2" - -Inline `code` has `back-ticks around` it. - -```javascript -var s = "JavaScript syntax highlighting"; -alert(s); -``` - -```python -s = "Python syntax highlighting" -print s -``` - -``` -No language indicated, so no syntax highlighting. -But let's throw in a tag. -``` - -Colons can be used to align columns. - -| Tables | Are | Cool | -| ------------- |:-------------:| -----:| -| col 3 is | right-aligned | $1600 | -| col 2 is | centered | $12 | -| zebra stripes | are neat | $1 | - -There must be at least 3 dashes separating each header cell. -The outer pipes (|) are optional, and you don't need to make the -raw Markdown line up prettily. You can also use inline Markdown. - -Markdown | Less | Pretty ---- | --- | --- -*Still* | `renders` | **nicely** -1 | 2 | 3 - -> Blockquotes are very handy in email to emulate reply text. -> This line is part of the same quote. - -Quote break. - -> This is a very long line that will still be quoted properly when it wraps. Oh boy let's keep writing to make sure this is long enough to actually wrap for everyone. Oh, you can *put* **Markdown** into a blockquote. - - -Here's a line for us to start with. - -This line is separated from the one above by two newlines, so it will be a *separate paragraph*. - -This line is also a separate paragraph, but... -This line is only separated by a single newline, so it's a separate line in the *same paragraph*. diff --git a/_posts/2023-11-09-adaptive-controller-graph-eom.md b/_posts/2023-11-09-adaptive-controller-graph-eom.md index 54008317..c7c7c01b 100644 --- a/_posts/2023-11-09-adaptive-controller-graph-eom.md +++ b/_posts/2023-11-09-adaptive-controller-graph-eom.md @@ -103,7 +103,7 @@ We simulated the arm moving from one random configuration to another—marked in ### Attempt 1: Graph Neural Net As inspired by Bhatoo, we rearrange the dataset as a Graph Dataset based on the PyTorch Geometric Library. Each node contains the 10 physical property parameters, angle, angular velocity, and torque input. In total, each node has 13 features. The output is set to be angular acceleration of the 7 joints (1x7 vector). As for the edge index, the graph is defined to be directed, either information flows from the last node to the first or the first node to the last node. This is inspired by the physical intuition that forces propagate sequentially from one body to the next, and that motion with respect to the global coordinate frame also sequential depended on the previous body link. -{% include figure.html path="assets/img/2023-11-09-adaptive-controller-graph-eom/node.jpg" class="img-fluid" %} +{% include figure.html path="assets/img/2023-11-09-adaptive-controller-graph-eom/nodes.jpg" class="img-fluid" %} We applied nine iterations of the Graph Convolution Layer, ensuring information flow from one end of the arm to the other. diff --git a/_posts/2023-11-09-uncertainty.md b/_posts/2023-11-09-uncertainty.md index ac6329e1..9cc46e98 100644 --- a/_posts/2023-11-09-uncertainty.md +++ b/_posts/2023-11-09-uncertainty.md @@ -99,10 +99,10 @@ We train a model with SWAG on the MINST and CIFAR10 datasets. First, we only tra
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/violin_mnist_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/violin_mnist_swag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/violin_cifar_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/violin_cifar_swag.png" class="img-fluid rounded z-depth-1" %}
@@ -110,16 +110,16 @@ We can also take a look at the data itself and identify the images which have th
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_hard_id_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_hard_id_swag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_easy_id_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_easy_id_swag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_hard_id_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_hard_id_swag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_easy_id_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_easy_id_swag.png" class="img-fluid rounded z-depth-1" %}
The above pictures correspond to the highest and lowest scores from in-distribution training data. The major contributors for the high scores for MNIST are digits that are so poorly written it's hard to say what it is or it resembles another image too much. For CIFAR, it seems like the high score images are inducing confusion due to their color scheme or background. A lot of images with a blue or sky background such as those of birds do seem to be mistaken for planes at times. The low score images on the other hands are all extremely similar to one another; they're very well written digits (usually 0) or something that is obviously a car (usually red). @@ -127,16 +127,16 @@ The above pictures correspond to the highest and lowest scores from in-distribut Next, we take a look at how these scores fair on new out-of-distribution images.
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_hard_ood_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_hard_ood_swag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_easy_ood_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_easy_ood_swag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_hard_ood_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_hard_ood_swag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_easy_ood_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_easy_ood_swag.png" class="img-fluid rounded z-depth-1" %}
@@ -148,11 +148,11 @@ Now that we've seen that we can use our measure of uncertainty as how well the o
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_correlation_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_correlation_swag.png" class="img-fluid rounded z-depth-1" %} Spearman Correlation: -.9923
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_correlation_swag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_correlation_swag.png" class="img-fluid rounded z-depth-1" %} Spearman Correlation: -.3867
@@ -167,11 +167,11 @@ This model is very simple and our weight "peturbations" are not too mathematical
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_correlation_mc.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_correlation_mc.png" class="img-fluid rounded z-depth-1" %} Spearman Correlation: -.9944
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_correlation_mc.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_correlation_mc.png" class="img-fluid rounded z-depth-1" %} Spearman Correlation: -.2936
@@ -239,11 +239,11 @@ We do this by introducing a wrapper model that takes in a base model as well as
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_scwag_correlations.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_scwag_correlations.png" class="img-fluid rounded z-depth-1" %} Spearman Correlation: -.9897
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_scwag_correlations.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_scwag_correlations.png" class="img-fluid rounded z-depth-1" %} Spearman Correlation: -.8484
@@ -252,16 +252,16 @@ With MNIST, we already had near perfect correlation so this slight decrease isn'
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_hard_scwag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_hard_scwag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_easy_scwag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/mnist_easy_scwag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_hard_scwag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_hard_scwag.png" class="img-fluid rounded z-depth-1" %}
- {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_easy_scwag.jpg" class="img-fluid rounded z-depth-1" %} + {% include figure.html path="assets/img/2023-12-12-uncertainty-detection-project/cifar_easy_scwag.png" class="img-fluid rounded z-depth-1" %}