Recent Posts

• Should Machine Learning Engineers Write Unit Tests?

  If you are looking for a tl;dr, the answer is yes. I somehow seem to run into engineers fairly frequently that think there is nothing to test in machine learning code or at least can’t imagine where one might need a test.  Generally speaking, the argument is something like “It’s just a model.  You just…

  March 15, 2025

• Training on GPU with Libtorch and How to Use MPS

  Arguably the most useful feature of deep learning libraries is their ability to move workloads to the GPU and PyTorch makes it very easy for users by providing a to() function that you can pass a device object to.  The documentation doesn’t make it very clear about it, but actually Libtorch makes it just as…

  October 31, 2024

• Metric Tracking Options for Libtorch

  For anyone reading articles on this website, I don’t think I need to stress the importance of logging metrics of ML models, but there aren’t very many options when it comes to Libtorch metric tracking. Things just aren’t quite as easy as they are with PyTorch.  You could, of course, save everything to a csv…

  October 26, 2024

• Have You Thought About Using a Namespace in C++?

  As someone originally coming from Python and then learning C++ later, namespaces were a new concept to me.  For the longest time, I was interacting with the ones in the standard library, but not really writing my own. However, at one point I was working on a personal project (an emulator if you are interested!)…

  September 23, 2024

• PyTorch Lightning: How To Keep Your PyTorch Project Clean

  As an engineer in perception and computer vision, I tend to work with PyTorch a lot.  It’s a very flexible framework and there are already many useful components built into it that prevent you from having to build it yourself.  However, if you have already built a few projects with it, you might have noticed…

  February 13, 2024

• A Starting Point for Learning Visual SLAM

  If you are like me, you are probably fascinated by the idea of SLAM and since you are here reading Perception ML articles, you are probably even more excited about Visual SLAM.  Along my path to become a better engineer, I have been doing some self-study about Visual SLAM.

  January 1, 2024