The Blog

Denavit-Hartenberg (DH) parameters provide a systematic way to describe robot geometry, linking kinematics, joints, and links for practical robot modeling and control.

The core idea of transformation matrices is that a point represented in one coordinate frame (B) can be expressed in another frame (A) by combining rotation and translation into a single operator.

I wrote some tutorial code of pd controller, pi controller, lead compensator, and lag compensator in MATLAB. Feel free to use!!

π₀ is an innovative VLA model that combines a vision–language backbone with an action expert module and flow matching, producing continuous action sequences from natural language and images.

Diffusion-based models such as DDPM and their use in policy learning rely on denoising mechanisms, UNet architectures, and structured action representations to capture complex sequential behaviors.

OpenVLA is a 7B open-source VLA model built on Llama2 + DINOv2 + SigLIP, trained on 970k demos, achieving stronger generalization and robustness than closed RT-2-X (55B) and outperforming Diffusion Policy.