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Implementation of PPO on the Franka Panda Emika robot - #259

Merged

yardenas merged 18 commits into

lasgroup:mainfrom

yardenas:ppo-franka

Feb 22, 2026

Merged

Implementation of PPO on the Franka Panda Emika robot#259
yardenas merged 18 commits into
lasgroup:mainfrom
yardenas:ppo-franka

Commits on Feb 22, 2026
- Add training script
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  committed
  b87cbd3
- Fixes
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  d87ed09
- Fixes
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  d11e680
- Use standard brax ppo
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  d6cf3c6
- Add vision conversion scripts
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  3617872
- Add logs
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  f177e4e
- Make sure to use preprioceptive and no normalization
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  542630f
- Fix conversion testing script
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  ece3782
- Revert "Fix conversion testing script"
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  4c3685e
- Revert "Make sure to use preprioceptive and no normalization"
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  2b215f0
- Save checkpoint and fix conversion errors
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  bb54722
- Convert from checkpint
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  287abac
- Ignore state
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  b46fa8c
- Test
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  aa896ff
- Fix shape loading
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  d556024
- Idk
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  66b82c3
- Cleanup and ignore state
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  240af39
- Remove annotations
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  805e197