Framework Migration¶
Bring existing tasks or training flows from adjacent RL frameworks into UniLab’s contract-driven layout.
From Isaac Lab
Keep Manager-Based terms while adapting Hydra config, NumPy execution, and scene access.
From Legged Gym
Move class-based environments into the NpEnv contract.
From RSL-RL
Separate trainer assumptions from UniLab runner assembly.
From skrl
Map algorithm entrypoints and config ownership.
Config translation
Compare common field ownership across configs.
Reward porting
Port reward terms without breaking env/backend contracts.