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Commits on Apr 17, 2026

• Add IPMD utility functions and enhance config handling

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Commits on Apr 16, 2026

• Fix: latent command control injection fixed.

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Commits on Apr 10, 2026

• Enhance IPMD agent functionality and testing

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Commits on Apr 6, 2026

• Implements fastsac.

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Commits on Mar 31, 2026

• Enhance IPMD and ASE with command source handling and metric formatting. Added support for 'reference_posterior' command source in IPMD, including methods for sampling collector latents and normali…

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Commits on Mar 25, 2026

• Fix import issue.

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• Merge remote-tracking branch 'origin/main' into feat/skill-command

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• Upgrade syncdatacollector to collector following torchrl upgrade

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Commits on Mar 23, 2026

• Small fix.

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• Merge pull request #9 from fei-yang-wu/gcx/dev

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Commits on Mar 21, 2026

• update: add ipmd_bilinear

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Commits on Mar 19, 2026

• Merge pull request #8 from fei-yang-wu/gcx/dev

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• Refactor ASE to be close to ProtoMotion

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• Add MI critic for IPMD, following ProtoMotion

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Commits on Mar 18, 2026

• Qos updates: using rich to render progress bar and avoid rendering in non-tty envs. No postfix on progress bar.

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Commits on Mar 17, 2026

• WIP: add skill encoder; add mutual information loss as pre-training loss; add diversity loss during policy improvement; add skill encoded variational reward

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• Code cleanup. Now ipmd/ppo follows a better predictable structure.

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Commits on Mar 15, 2026

• Enhance IPMD reward configuration: Introduce gradient penalty coefficient and estimated reward done penalty. Refactor reward input handling and update reward loss calculation to incorporate gradien…

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Commits on Mar 13, 2026

• update: support off-policy data for sr training

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• Fix: patch when bc_coef=0.0

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• feat: implement ipmd_sr

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• WIP: Add bc loss. Need bc_coeff>0.

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Commits on Mar 10, 2026

• Profile time similar to RSLRL

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Commits on Mar 9, 2026

• Add agents.md for guiding ai agents

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• Simplify code and add compilation for reward estimator.

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Commits on Mar 7, 2026

• Code cleanup and enable torch.compile

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• Feat: IPMD v1. works okay on dance 102 using task reward.

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Commits on Mar 4, 2026

• Add back logging for IsaacLab logs in ipmd_simple

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• Refactor IPMD module: Introduce IPMD class and configuration, update reward estimator settings, and reorganize imports. The new structure enhances clarity and maintainability while adjusting reward…

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Commits on Mar 3, 2026

• Add more detailed time logging in IPMD.

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Commits on Feb 26, 2026

• WIP: migrate mimickit and ProtoMotion's implementation

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• Merge pull request #7 from fei-yang-wu/algorithm

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• Merge branch 'main' into algorithm

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• Merge pull request #6 from typoverflow/gcx/algorithm

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• WIP: implementing GAIL methods

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