Uh oh!
There was an error while loading. Please reload this page.
Refactor official tasks around domain and task identity - #550
Open
yuecideng wants to merge 2 commits into
Open
Conversation
Move official task registrations and configs into domain/task packages. Keep scene and MDP declarations config-first, colocate Expert Program bindings and RL agents with their tasks, and update discovery docs and tests.
# Conflicts: # agent_context/MAP.yaml # agent_context/topics/motion-planning/motion-planning.md # docs/design/declarative_expert_program_plan.md # docs/design/expert_program_rollout_report.md # docs/source/api_reference/public_api.rst # docs/source/resources/task/index.rst # embodichain_tasks/configs/tasks/manipulation/hand_over/env.json # embodichain_tasks/configs/tasks/manipulation/open_drawer/env.json # embodichain_tasks/configs/tasks/manipulation/repeated_pick_place/env.json # embodichain_tasks/embodichain_tasks/classic_control/cart_pole/__init__.py # embodichain_tasks/embodichain_tasks/manipulation/_expert.py # embodichain_tasks/embodichain_tasks/manipulation/repeated_pick_place/expert/binding.py # scripts/tools/expert_program_rollout_report.py # tests/gym/envs/expert_program/test_catalog.py # tests/gym/envs/expert_program/test_task_hand_over.py # tests/gym/envs/expert_program/test_task_vertical_slices.py # tests/gym/utils/test_gym_utils.py # tests/scripts/tools/test_expert_program_rollout_report.py # tests/test_expert_program_package_data.py
yuecideng
marked this pull request as ready for review
August 26, 2026 15:31
Too many files changed for review (121 files, 100 file limit). Bypass the limit by tagging |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for freeto join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Reorganize the bundled
embodichain_taskstree around domain and task identity instead of solution silos such asrlandexpert_program.The resulting ownership model is:
<domain>/<task>/task.pyowns the environment class and registration.configs/tasks/<domain>/<task>/env.{json,yaml}owns the scene and MDP declaration.expert/program.yamlstores a declarative Expert Program when present.expert/binding.pycontains runtime/embodiment wiring only.agents/<algorithm>.{json,yaml}stores task-local RL training configuration.This also removes the duplicated Python scene/MDP construction from HandOver, updates task discovery and installed-config resolution for worktrees/wheels, and synchronizes examples, project context, agent skills, tutorials, and API docs.
Gym IDs are unchanged. Direct imports from
embodichain_tasks.rlorembodichain_tasks.expert_program, and old repository-style paths belowconfigs/gym,configs/expert_program, orconfigs/agents/rl, must migrate to the task-first paths documented inembodichain_tasks/README.md.Fixes: N/A — requested architecture refactor.
Dependencies: none.
Type of change
Validation
black --check --diff --color ./python docs/scripts/check_api_docs.py— 1723/1723 exports documentedrequires_simtests deselectedpython -m sphinx -b dummy docs/source docs/build/api-docs-checkPhysical simulator gates were not run; this PR changes task ownership and paths rather than simulation behavior.
Screenshots
Not applicable; this is a package/configuration layout refactor.
Checklist
black .command to format the code base.python docs/scripts/check_api_docs.py).task.py.