blog

small progress, half-baked takes, incomplete ideas, and occasional essays.

october 2026

If we train a transformer to predict the next token of dolphin spectrograms, could build a machine that speaks dolphin? Can an LLM co-trained with human language translate between dolphin and human?

progress Oct 18, 2026

Learned about MCAP and protobuf. MCAP strings together protobuf messages which store data like videos and pose frames. Foxglove is a pretty cool tool to visualize MCAPs, which can be seen in the video–had to copy/paste code from claude to get the hand frames remapped into a different format to get it visualized. MCAP is used by Open100k for their egocentric data. I wonder why they decided to go with MCAP and not some other kind of organization. MCAP is also used by ROS2 systems to store data.

progress Oct 18, 2026

Started an engineering log. Small progress, small takes, small ideas — tweet-sized, posted from the terminal with bin/log.

#website

september 2026

june 2026

essay Jun 6, 2026 · 15 min read

All About Robotic Actuators

From BLDC motors and FOC up through PD control, and how to model actuators in MuJoCo.

april 2026

february 2026