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3 </head> <body class="fixed-top-nav "> <header> <nav id="navbar" class="navbar navbar-light navbar-expand-sm fixed-top" role="navigation"> <div class="container"> <a class="navbar-brand title font-weight-lighter" href="/"> <span class="font-weight-bold">Yutang</span> Lin </a> <button class="navbar-toggler collapsed ml-auto" type="button" data-toggle="collapse" data-target="#navbarNav" aria-controls="navbarNav" aria-expanded="false" aria-label="Toggle navigation"> <span class="sr-only">Toggle navigation</span> <span class="icon-bar top-bar"></span> <span class="icon-bar middle-bar"></span> <span class="icon-bar bottom-bar"></span> </button> <div class="collapse navbar-collapse text-right" id="navbarNav"> <ul class="navbar-nav ml-auto flex-nowrap"> <li class="nav-item "> <a class="nav-link" href="/">about </a> </li> <li class="nav-item active"> <a class="nav-link" href="/blog/">blog <span class="sr-only">(current)</span> </a> </li> <li class="nav-item "> <a class="nav-link" href="/publications/">publications </a> </li> <li class="nav-item "> <a class="nav-link" href="/repositories/">repositories </a> </li> <li class="nav-item "> <a class="nav-link" href="/cv/">cv </a> </li> <li class="nav-item dropdown "> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">submenus </a> <div class="dropdown-menu dropdown-menu-right" aria-labelledby="navbarDropdown"> <a class="dropdown-item " href="/books/">bookshelf</a> </div> </li> <li class="nav-item"> <button id="search-toggle" title="Search" onclick="openSearchModal()"> <span class="nav-link">ctrl k <i class="ti ti-search"></i></span> </button> </li> <li class="toggle-container"> <button id="light-toggle" title="Change theme"> <i class="ti ti-sun-moon" id="light-toggle-system"></i> <i class="ti ti-moon-filled" id="light-toggle-dark"></i> <i class="ti ti-sun-filled" id="light-toggle-light"></i> </button> </li> </ul> </div> </div> </nav> <progress id="progress" value="0"> <div class="progress-container"> <span class="progress-bar"></span> </div> </progress> </header> <div class="container mt-5" role="main"> <div class="post"> <div class="header-bar"> <h1>Yutang Lin's blog</h1> <h2>A journey through mathematics, philosophy, and robotics, where I share book reviews, research insights, and personal explorations in computer vision, robotics, and reinforcement learning.</h2> </div> <div class="tag-category-list"> <ul class="p-0 m-0"> <li> <i class="fa-solid fa-hashtag fa-sm"></i> <a href="/blog/tag/robotics">Robotics</a> </li> <p>•</p> <li> <i class="fa-solid fa-hashtag fa-sm"></i> <a href="/blog/tag/rl">RL</a> </li> <p>•</p> <li> <i class="fa-solid fa-hashtag fa-sm"></i> <a href="/blog/tag/cv">CV</a> </li> <p>•</p> <li> <i class="fa-solid fa-tag fa-sm"></i> <a href="/blog/category/formatting">formatting</a> </li> <p>•</p> <li> <i class="fa-solid fa-tag fa-sm"></i> <a href="/blog/category/algorithms">algorithms</a> </li> <p>•</p> <li> <i class="fa-solid fa-tag fa-sm"></i> <a href="/blog/category/experiments">experiments</a> </li> <p>•</p> <li> <i class="fa-solid fa-tag fa-sm"></i> <a href="/blog/category/math">math</a> </li> </ul> </div> <ul class="post-list"> <li> <h3> <a class="post-title" href="/blog/2026/why-humanoids/">Why Humanoids?</a> </h3> <p>Whole-body physicality, not the humanoid form factor, is what makes humanoids fundamentally different — and why I think we do not yet have a general-purpose whole-body model.</p> <p class="post-meta"> 3 min read   ·   August 17, 2026 </p> <p class="post-tags"> <a href="/blog/2026"> <i class="fa-solid fa-calendar fa-sm"></i> 2026 </a>   ·   <a href="/blog/tag/robotics"> <i class="fa-solid fa-hashtag fa-sm"></i> Robotics</a>   ·   <a href="/blog/category/robotics"> <i class="fa-solid fa-tag fa-sm"></i> Robotics</a> </p> </li> <li> <h3> <a class="post-title" href="/blog/2024/ajoint-methods/">Notes for Ajoint Methods</a> </h3> <p>The adjoint method, introduced in the 2018 neural ODE paper, provides an efficient approach for computing gradients in neural ODEs. This article presents a detailed mathematical derivation of the adjoint method's core formulas and their applications.</p> <p class="post-meta"> 3 min read   ·   August 20, 2024 </p> <p class="post-tags"> <a href="/blog/2024"> <i class="fa-solid fa-calendar fa-sm"></i> 2024 </a>   ·   <a href="/blog/tag/ajoint-method"> <i class="fa-solid fa-hashtag fa-sm"></i> ajoint-method</a>   <a href="/blog/tag/ode"> <i class="fa-solid fa-hashtag fa-sm"></i> ODE</a>   ·   <a href="/blog/category/formatting"> <i class="fa-solid fa-tag fa-sm"></i> formatting</a>   <a href="/blog/category/algorithms"> <i class="fa-solid fa-tag fa-sm"></i> algorithms</a>   <a href="/blog/category/math"> <i class="fa-solid fa-tag fa-sm"></i> math</a> </p> </li> <li> <h3> <a class="post-title" href="/blog/2024/diffusion-models/">Notes for Diffusion Models</a> </h3> <p>Diffusion models are an important class of modern generative models. This article provides a brief introduction to distribution-based generative algorithms such as diffusion, SDE, and consistency models based on my personal understanding.</p> <p class="post-meta"> 23 min read   ·   June 20, 2024 </p> <p class="post-tags"> <a href="/blog/2024"> <i class="fa-solid fa-calendar fa-sm"></i> 2024 </a>   ·   <a href="/blog/tag/generative-models"> <i class="fa-solid fa-hashtag fa-sm"></i> generative-models</a>   <a href="/blog/tag/ode"> <i class="fa-solid fa-hashtag fa-sm"></i> ODE</a>   <a href="/blog/tag/sde"> <i class="fa-solid fa-hashtag fa-sm"></i> SDE</a>   <a href="/blog/tag/cv"> <i class="fa-solid fa-hashtag fa-sm"></i> CV</a>   ·   <a href="/blog/category/formatting"> <i class="fa-solid fa-tag fa-sm"></i> formatting</a>   <a href="/blog/category/algorithms"> <i class="fa-solid fa-tag fa-sm"></i> algorithms</a>   <a href="/blog/category/math"> <i class="fa-solid fa-tag fa-sm"></i> math</a> </p> </li> </ul> </div> </div> <footer class="fixed-bottom" role="contentinfo"> <div class="container mt-0"> © Copyright 2026 Yutang Lin. 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