Feiyang Wu

Be Brave and be Happy

Ros2 Control

Feiyang Wu published on 2024-09-25 included in Robotics

Xshell使用

Feiyang Wu published on 2024-09-20 included in Linux

由于希望使用Linux服务器上的可视化工具，使用X11对Linux服务器的GUI进行转发。

参考博客：https://www.cnblogs.com/tsfh/p/9022170.html

https://www.cnblogs.com/xuyaowen/p/ssh-X11forward.html

Step 1.

服务器： sudo vim /etc/ssh/sshd_config 修改以下配置，如果在配置文件里面没有找到，就直接添加到文件末尾即可，最后保存退出:wq

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X11Forwarding yes

X11DisplayOffset 10

X11UseLocalhost yes

服务器端修改完成后需要执行命令重启sshd服务

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sudo systemctl restart sshd.service

Step 2.

Windows上安装Putty和Xming。启动 XLaunch之后，记住display number，默认值为0。之后打开putty，点击Connection->SHH->AUTH->X11，勾选enbale X11，x display location 填写localhost:<Display Number>，例如localhost:0。

Step 3.

使用ssh通过putty连接服务器。尝试xclock，之后出现时钟图标。

A Comparison of Imitation Learning Algorithms for Bimanual Manipulation论文精读

Anonymous published on 2024-09-15 included in Draft

Conecpts

Behavior Cloning

\begin{align*} \mathbf{\hat{\theta}} = \argmax_{\theta} \mathbb{E}_{(\mathbf{s},\mathbf{a})\sim \mathbf{\tau_E}}[\log(\pi_{\theta}(\mathbf{a|s}))] \end{align*}

The key idea of behavioural cloning is to maximize such policy $\pi_{\theta}(\mathbf{a}|\mathbf{s})$ where $\mathbf{s}$ and $\mathbf{a}$ is the expert trajectory.

Action Chunking Transformer

Implicit Behavior Cloning

\begin{align*} \mathbf{\hat{a}} = \argmin_{\mathbf{a}} E_{\theta}(\mathbf{s,a}) \end{align*}

Methodology

Multiplex LIF

Feiyang Wu published on 2024-07-03 included in 中文博客

网站维护

Feiyang Wu published on 2024-05-14 included in 网站维护

1. 如何发布一篇新的帖子

以要新发布一篇名为maintain.md的帖子为例：

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hugo new content /posts/maintain.md

该文件会被加入content/posts文件夹中。新的网页文件会被渲染。

通过修改参数可以更改网页配置，具体信息查阅FixIt文档。

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---
title: 网站维护
subtitle: 介绍维护该网站的常用方法
date: 2024-05-14T20:58:28-05:00
slug: b7b4b1f
draft: true
author:
name: Feiyang Wu
link:
email:
avatar: /avatar_img/avatar.jpg
description:
keywords:
license:
comment: false
weight: 0
tags:
- 网站维护
categories:
- 网站维护
hiddenFromHomePage: false
hiddenFromSearch: false
hiddenFromRss: false
hiddenFromRelated: false
summary:
resources:
- name: featured-image
src: featured-image.jpg
- name: featured-image-preview
src: featured-image-preview.jpg
toc: true
math: false
lightgallery: false
password:
message:
repost:
enable: true
url:

# See details front matter: https://fixit.lruihao.cn/documentation/content-management/introduction/#front-matter
---

以上是本页面的配置信息。如果要渲染该页面，需要将draft值从默认的true改为false。

2. 添加菜单内容

找到hugo设置文件hugo.toml，加入菜单设置：

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[menu]
    [[menu.main]]
        identifier = "archives"
        parent = ""
        # you can add extra information before the name (HTML format is supported), such as icons
        pre = ""
        # you can add extra information after the name (HTML format is supported), such as icons
        post = ""
        name = "Archives"
        url = "/archives/"
        # title will be shown when you hover on this menu link
        title = ""
        weight = 1
        # FixIt 0.2.14 | NEW add user-defined content to menu items
        [menu.main.params]
            # add css class to a specific menu item
            class = ""
            # whether set as a draft menu item whose function is similar to a draft post/page
            draft = false
            # FixIt 0.2.16 | NEW add fontawesome icon to a specific menu item
            icon = "fa-solid fa-archive"
            # FixIt 0.2.16 | NEW set menu item type, optional values: ["mobile", "desktop"]
        type = ""

具体用法详见FixIt文档。

3. 添加静态页面

做法类似添加一个新帖子。直接将markdowm文件加入content文件夹即可：

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hugo new content mian.md

如果该页面无法通过菜单直接找到，可以在markdown最开始的配置区域加上url，例如：

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+++
title = 'RoboMaster Meta战队'
subtitle = '2024电控教学主页'
date = 2024-05-14T14:17:45-05:00
draft = false
url = '/meta-teaching/main'
+++

该静态页面就会显示在网站/meta-teaching/main页面。

4. 添加图片和资源

将所有的图片和资源放入assets文件夹。资源和文件将以该文件夹为根目录进行寻址。

5. 更多其他功能

更多其他功能请查阅FixIt文档。本文档仅介绍基础维护方法。