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feat: add Sharpa sim2real and HORA training support - #354

Merged

TATP-233 merged 25 commits into

mainfrom

feat/sharpa_sim2real

May 4, 2026

Commits on Apr 20, 2026

revise sharpa obs and add object scale
Mingrui-Yu
committed
6fa6334
randomization and hora-style teacher-student policy for sharpa_inhand
Mingrui-Yu
committed
d132273

Commits on Apr 21, 2026

hora appo
Mingrui-Yu
committed
8aa69f8

Commits on Apr 22, 2026

Distillations of both APPO and PPO are ready
Mingrui-Yu
committed
a2d7d34

Commits on Apr 23, 2026

Commits on Apr 24, 2026

revert friction in training
Mingrui-Yu
committed
3e66f78
add hora and distill script
Mingrui-Yu
committed
77e106f
change object default pose
Mingrui-Yu
committed
129c976

Commits on Apr 27, 2026

Merge branch 'main' into feat/sharpa_sim2real
Mingrui-Yu
committed
f3c0227

Commits on Apr 28, 2026

clean sharpa code; test sharpa ppo and appo. test allegro ppo and appo, mujoco and motrix.
Mingrui-Yu
committed
fdb83c6

Commits on May 4, 2026

Merge remote-tracking branch 'origin/main' into feat/sharpa_sim2real
TATP-233
committed
f7d63af
Merge remote-tracking branch 'origin/main' into feat/sharpa_sim2real
TATP-233
committed
788861a
Merge remote-tracking branch 'origin/main' into feat/sharpa_sim2real
TATP-233
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bea59d8
chore: update uv.lock
TATP-233
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ad1e7a7
fix: add missing _resolve_done to RslRlVecEnvWrapper
TATP-233
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c5d8ccb
fix: align test FakeEnv with terminated/truncated contract and add missing doc nav link
TATP-233
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9e81a5c
test: tighten Sharpa HORA contract coverage
TATP-233
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6c0886e
fix: move Sharpa HORA runtime logic to owners
TATP-233
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d1cd485
fix: align HORA APPO IPC with obs critic contract
TATP-233
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b555105
style: satisfy ruff checks
TATP-233
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9e7ee35
fix: route mujoco interval push through push_robots
TATP-233
committed
a2e8457