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fromscratch: Alireza Azimi
Recent Posts
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.
Jan 21, 2026
Alireza Azimi
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…
Jul 28, 2025
Alireza Azimi
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?
Jul 23, 2025
Alireza Azimi, Veronika Ivanytska
Determining Camera XY-Axis in MuJoCo
In mujoco schemas you can define camera objects like the following:
Jul 14, 2025
Alireza Azimi
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…
Jun 28, 2025
Alireza Azimi, Veronika Ivanytska
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