HORA¶
The committed HORA path is the Sharpa in-hand teacher/student flow. Teacher
owners live under the PPO and APPO task trees through the 7-hora profile for
sharpa_inhand; student distillation uses scripts/train_hora_distill.py and
conf/hora_distill/task/sharpa_inhand/mujoco.yaml.
Teacher¶
uv run train --algo ppo --task sharpa_inhand --sim mujoco --profile hora
uv run train --algo appo --task sharpa_inhand --sim mujoco --profile hora training.no_play=true
The HORA PPO owner sets algo.algo_log_name=hora_ppo and resolves the runtime
through unilab.algos.torch.hora.rsl_rl:resolve_hora_ppo_runtime. The APPO
variant sets algo.algo_log_name=hora_appo.
Student Distillation¶
Student distillation is implemented by scripts/train_hora_distill.py and
configured by conf/hora_distill/task/sharpa_inhand/mujoco.yaml. The top-level
CLI does not currently declare a separate HORA distillation --algo route, so
the public CLI examples on this page stay on the teacher path above.
Teacher checkpoint resolution is implemented in
src/unilab/algos/torch/hora/distill_config.py. The student log family is
hora_distill.