playing around with an arm and a biped and rl

i have my exams approaching in a week, and have a lot of stuff to work on, including academics and mainly rl and robotics.

so i was trying to develop intuition to start working on my design of a humanoid robot. in this process i trained a kinova gen 3 arm (manipulated only 2 degrees of freedom here) to balance at a 45 degree angle using SAC.

at this time i was just using matlab as the platform (my lil g asks me to drop using matlab every day ;-;) but i wanted to use it since i was working on a matlab related project. Now coming to the biped, so i started working on it, i could get it walking by using the rl agent designer (dont have the images on me rn).. but i ditched that, am trying to build it using first principles right now. Oh also i played around rl quite a bit this month... but im dropping most of that stuff, and will walk thorugh rl from start, from first principles.. and design it myself from scratch, i can already see it, me having fun getting my agent work on the atari games.