Reimplementing the VINN paper, a non-parametric way of behaviour cloning direct from data.

I created a basic imitation learning policy from the ground up to see what it could learn. Spoiler - not much.

How to start with a robot arm - from first motions in simulation to the real world. Inverse kinematics, trajectories, position control, velocity control, in MuJoCo and on an Ufactory Lite 6.

Marine robotics is an area with huge potential for impact, but most people have very little idea about it. Here I explain some of the unique and interesting challenges that come with creating a robot for an underwater environment.