Merge humanoid#37

Merged

sheim merged 30 commits intodevfrom

Dec 10, 2025

Commits on Mar 16, 2024

Commits on Mar 18, 2024

Commits on Mar 19, 2024

make pd gains specific for each robot
sheim
committed
refactor sampled history to be more explicit and not overlap with `dof_pos_history` (used for smoothness reward).
sheim
committed

Commits on Mar 23, 2024

properly roll histories, retune action_rate for mc
sheim
committed

Commits on Mar 24, 2024

Commits on Mar 29, 2024

WIP: tuning, critic loss higher than expected
sheim
committed

Commits on Aug 6, 2024

Commits on Aug 7, 2024

unify humanoid and lander
sheim
committed

Commits on Sep 4, 2024

Commits on Sep 8, 2024

Merge branch 'dev' into humanoid
sheim
committed

Commits on Sep 10, 2024

fixed logging bug that scaled with wrong dt
sheim
committed

Commits on Sep 11, 2024

hardcode Jacobian (halves time for _apply_coupling)
sheim
committed

Commits on Dec 10, 2025