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lqr

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投稿

Unitree G1 humanoid robot security vulnerabilities and non-consensual telemetry

arxiv.org
2 ポイント·投稿者 lqr·8 か月前·0 コメント

コメント

lqr
·11 か月前·議論
The mathematical field of Differential Geometry can answer this question precisely: https://en.wikipedia.org/wiki/Geodesic#Affine_geodesics

An oblate spheroid is an example of a Riemannian manifold: a smooth object that looks like a plane (or, in general, any ℝ^n) locally, and has a way to measure angles between vectors in that local plane.

All Riemannian manifolds have an object called the Levi-Cevita connection, which defines how vectors in the local plane (tangent space) most naturally map to vectors in other tangent spaces in the immediate neighborhood.

Standing at a point on the Earth and looking in a certain direction gives us 1) a point on the manifold, and 2) a direction in that point's tangent space.

We then take an infinitesimally small step forward, and apply the Levi-Cevita connection to get from the old tangent space to the (infinitesimally nearby) new tangent space, and repeat. This defines an ordinary differential equation. Integrating the differential equation gives us a curve through the manifold.

Within some neighborhood of the initial point, this curve is a geodesic, i.e. the shortest path between the initial point and all subsequent points on the curve. This matches our typical intuition of "straight".

(Disclaimer: I am currently learning about this topic, but am not an expert.)

edit: https://en.wikipedia.org/wiki/Geodesics_on_an_ellipsoid goes into some interesting specifics about the results of this process on ellipsoids.
lqr
·12 か月前·議論
In this example, random numbers provoked the worst case too often. However, in other situations random numbers are "too nice". For example, a random matrix with independent identically-distributed zero-mean entries is overwhelmingly likely to be well-conditioned, have no repeated eigenvalues, etc. Testing numerical algorithms on random data alone is a bad idea.
lqr
·昨年·議論
For math and writing, we still have in-class exams as an LLM-free evaluation tool.

I wish there was some way to do the same for programming. Imagine a classroom full of machines with no internet connection, just a compiler and some offline HTML/PDF documentation of languages and libraries.
lqr
·昨年·議論
This paper may be interesting to you. It touches on several of the topics you mentioned:

https://www.science.org/doi/10.1126/scirobotics.abm6597