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Add copy-only cross-embodiment retargeting (G1 ⇄ GR1) - #78

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bbutin/retargeting

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Add copy-only cross-embodiment retargeting (G1 ⇄ GR1)#78
bbutin-nvidia wants to merge 16 commits into
mainfrom
bbutin/retargeting

Commits on Oct 21, 2026
- Add copy-only cross-embodiment retargeting (G1 ⇄ GR1)
  
  bbutin-nvidia
  and
  claude
  committed
  19eed4d
- Fix pre-merge checks in PR #78
  
  coderabbitai[bot]
  authored and
  bbutin-nvidia
  committed
  d88650e
- Address PR #78 review comments
  
  bbutin-nvidia
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  claude
  committed
  4b613d8
- Address PR #78 follow-up review comments
  
  bbutin-nvidia
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  claude
  committed
  cdc8358
- Fix return-type annotations in the parallel/replay paths
  
  bbutin-nvidia
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  claude
  committed
  a19ee7d
- Move duplicate-key YAML loader to autodata_utils
  
  bbutin-nvidia
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  claude
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  a9c0dc3
- Build retarget subtasks on the core Subtask
  
  bbutin-nvidia
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  claude
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  b3c2ec3
- Type the replay inputs and prepare_episode output
  
  bbutin-nvidia
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  b704824
- Share one step loop between sequential and parallel replay
  
  bbutin-nvidia
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  5dd2c2c
- Mark cross-embodiment retargeting as experimental
  
  bbutin-nvidia
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  b22995a
- Address PR #78 bokalnv review comments
  
  bbutin-nvidia
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  claude
  committed
  62a9cb1
Commits on Oct 22, 2026
- Extract shared scene_object_poses between Datastream and retargeting replay
  
  bbutin-nvidia
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  claude
  committed
  d0ca321
- Add DatagenInfo.from_episode and route pool/retargeting decode through it
  
  bbutin-nvidia
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  claude
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  5879a2c
- Parse retarget subtasks through the normal build_subtask task-parsing path
  
  bbutin-nvidia
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  claude
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  106fc70
- Represent retarget synchronization barriers as a core SubtaskConstraint
  
  bbutin-nvidia
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  claude
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  583c074
- Expose hand postures / eef offset through EmbodimentAdapter.raw_config
  
  bbutin-nvidia
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  claude
  committed
  cad6662

Commits

Commits on Oct 21, 2026

Commits on Oct 22, 2026