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Contributing

Bug reports and focused pull requests for the supported simulation surface are welcome. Before opening a pull request:

  1. Install Python 3.10 and the development extras with uv sync --extra rl --extra learned --extra test.
  2. Run uv run pytest -q.
  3. Run uv run speedtuning-sim and uv run speedtuning-check-chunks when changing tasks, policies, interpolation, or physics assets.
  4. Run uv run speedtuning-rainbow-poc when changing speed-policy learning.
  5. Run a two-point speedtuning-sweep smoke test when changing metrics, decision timing, or experiment manifests.

Please keep real-robot dependencies, private checkpoints, datasets, machine-local paths, and generated outputs outside this repository. New external policy support should use the public adapters instead of adding a dependency on another research repository to the core environment.

By contributing, you agree that your contribution may be distributed under the license applicable to the directory you modify.