User Guide¶
Daily usage reference once the repo is installed. If you are setting up UniLab for the first time, start with Getting Started.
Training
CLI routes, Hydra owner YAMLs, logs, checkpoints, Docker, and multi-GPU notes.
Algorithms
Compare PPO, APPO, SAC, TD3, FlashSAC, MLX PPO, HIM-PPO, and HORA.
Backends
Choose MuJoCo or Motrix from owner YAMLs and backend capability evidence.
Tasks
Find locomotion, motion tracking, manipulation, and mobile manipulation tasks.
Domain Randomization
Configure reset, init, and interval randomization through task owner configs.
Tooling
Export ONNX, inspect NaNs, send W&B logs, and export scenes.
Manipulation Notes
Task-specific Allegro, Sharpa, and Go2+Airbot notes.