Amjad Yaghi

Logbook

RL Arm Tracking

Learning RL by building a 3D trajectory-tracking policy for a simulated Franka arm. PPO via Stable-Baselines3 + MuJoCo.

2 entries

  1. May 2026

  2. Implementing inverse kinematics

    Built the Jacobian pseudo-inverse IK solver. It drives the Panda's wrist to a hardcoded 3D target, and degrades as expected when the target is out of reach. This is the foundation for both the classical baseline and the RL Cartesian action wrapper.

    • research
    • experiment

  3. Challenge accepted.

    Kickoff for an 11-day RL challenge: train a policy to track a 3D Cartesian trajectory on a simulated Franka arm. Scoped the problem, set up the repo with uv, and got Franka loaded in MuJoCo for first signs of life.

    • research
    • experiment