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Deep Reinforcement Learning

Reinforcement learning, in plain terms, is about learning how to act through experience. An agent takes actions in an environment, receives rewards, and learns to make…

DQN JAX

It’s officially here. My implementation of DQN in JAX. I’m going to move away from the model of documenting everything here in the blog and keep things contained inside the…

Implementing Proximal Policy Optimization in JAX

In this article we will go in depth into implementing PPO using JAX. You can find the code repository here.

Inside a Master’s Defence

It’s April 20, and I’m hopelessly browsing the internet for anything useful that might answer the question: “Will I pass tomorrow?” After going through a bunch of Reddit…

End of a Chapter

My master’s journey is finally nearing its end. I am preparing to defend my thesis on April 21.

Inverse Kinematics: Pose from Point instead of Point from Pose

Point at your nose. In how many ways can you orient your arm and index finger to accomplish this?

Alireza Azimi, Veronika Ivanytska

Convolutional Neural Networks

CNNs are quite common in computer vision tasks. Ranging from simple classification between digits in the MNIST dataset to performing robotic manipulation from vision using…

Save yourself some time

There are no shortcuts to mastering anything.

Determining Camera XY-Axis in MuJoCo

In mujoco schemas you can define camera objects like the following:

Forward Kinematics: A robotics classic

Have you ever tried to pinpoint the exact position of your hand in 3D space just by looking at it? It’s not so easy! In robotics, knowing the precise location of an end-effec…

Alireza Azimi, Veronika Ivanytska

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