Open-source the training pipeline

[Daffan]

Thank author for the great work!! Is the training code gonna be open-sourced as planned? Thank you!

[brentyi]

Hi @Daffan!

Yes, we're still working on it! Sorry it's taking a bit longer than the schedule we decided and put in the README originally; we ended up deciding to do more cleanup which shifted timelines.

The current status is:

• IsaacLab experiments (training from scratch) has been refactored, and we've confirmed we can reproduce the paper results. The paper results used a forked version of IsaacLab + rsl_rl, which we were modifying directly. The released version of the code will have everything modularized into an IsaacLab extension.
• Manipulation experiments (finetuning) cleanup is ongoing. This should be done soon, after which we can get everything reviewed for release + released by the end of the month.