Panda Non-Prehensile Sorter
Overview
A robotic arm trained with reinforcement learning to push moving packages from a conveyor into color-coded bins without grasping them.
My contribution
I built the MuJoCo simulation and PPO training pipeline with JAX, including curriculum learning, reward shaping, and parallel physics workers with C++ acceleration. I also created an interactive browser demo that runs the trained policy and physics locally with Three.js rendering.