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Add a strictly equivariant model for symmetry-aware RL - #241

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vanillaturtlechips wants to merge 5 commits into

leggedrobotics:extrasfrom

vanillaturtlechips:feature/equivariant-model

Commits on Oct 8, 2026
- Add a strictly equivariant model for exploiting robot symmetry
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  466bb1c
- Fix equivariant layer init scale and reject structured distributions
  
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  claude
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  5f0228f
- Support observation normalization in the equivariant model
  
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  110a433
Commits on Oct 9, 2026
- Address review: rename model file, merge distribution, add docs and augmentation helper
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  b73c6c1
Commits on Oct 10, 2026
- Address review: decouple from the symmetry extension and fold on export
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  ba1b067