最近看了一部很老的黑白电影《翠堤春晓》（The Great Waltz）。这部电影超出了我的预期。 作为一个喜欢摄影的人，我一开始就被这部电影的第一个镜头抓住了。电影开始时，镜头先从二楼的栏杆拍起，然后慢慢向下移动，最后落到妻子身上。运镜、空间调度和视线引导，放在今天看也许不算什么，甚至一些个人自媒体也会去做。但是这部电影是90年前拍摄的，我还是很惊讶，那个时代的电影人已经开始有这样的思考...

I learned about @NASAVoyager when I was about 10, from old kids’ science magazines published around 1980, either 我们爱科学 or 少年科学画报. Those magazines were originally bought by my grandpa for my aunts w...

Kalman filtering often looks intimidating at first. Many introductions start with matrix equations, state-space models, Gaussian distributions, and recursive Bayesian estimation. All of that is cor...

I have just open-sourced my little sound direction detection project here: entron/esp32_sound_direction. The idea is simple: use an ESP32 and two microphones to estimate where a sound is coming ...

The following blog post is drafted by ChatGPT based on my discussion on this topic with some of my edits. I have been working on a small hobby robot whose goal is intentionally modest: place i...

从费曼的挑战者号调查谈起对现代管理文化的反思

I have never encountered a problem that required a variational autoencoder (VAE) to solve. I hope I never will. They look complicated, and I generally try to avoid learning man-made, complicated c...

本文是我和ChatGPT对这个问题讨论后让ChatGPT写的总结。 在现代中国的公共语境中，“民族劣根性”这一词汇常常以一种似乎“自我反省”“勇于直面问题”的姿态出现。它似乎象征着一种清醒，一种敢于自剖的勇气，甚至被一些人视为知识分子的“诚实”。然而，当我们真正追溯这一概念的历史来源、它所依赖的理论背景，以及它在中国语境中的传播路径时，却会发现：所谓“中国人的劣根性”，并不是源自中国自...

This is based on my discussion with ChatGPT. I’ve been thinking about this topic for a while, and what motivates me is the following observation: People with knowledge—such as technical profession...

The classic split between generative and discriminative models was introduced for supervised learning: compare Naïve Bayes (model $p(x, y)$) with Logistic Regression (model $p(y\mid x)$). In conte...