Manipulation

Manipulation tasks live in src/unilab/envs/manipulation/ and the Go2 arm manip-loco env lives in src/unilab/envs/locomotion/go2_arm/.

In-Hand

  • allegro_inhand and allegro_inhand_grasp have MuJoCo and Motrix PPO owners.

  • sharpa_inhand, sharpa_inhand_grasp, and the hora profile for sharpa_inhand are MuJoCo owner paths in the current configs.

uv run train --algo ppo --task allegro_inhand --sim mujoco
uv run train --algo ppo --task allegro_inhand --sim motrix training.no_play=true
uv run train --algo ppo --task sharpa_inhand --sim mujoco --profile hora training.no_play=true

HORA student distillation is configured by conf/hora_distill/task/sharpa_inhand/mujoco.yaml; it is not currently exposed as a separate top-level CLI route.

Mobile Manipulation

go2_arm_manip_loco is the committed Go2 + Airbot owner path:

uv run train --algo ppo --task go2_arm_manip_loco --sim mujoco training.no_play=true

See Dexterous In-Hand Manipulation and Manip-Loco for task-specific notes.