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Add RigidFormer dynamics models and SL showcase - #858

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yuecideng wants to merge 50 commits into

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codex/sl-rigidformer

Closed

Add RigidFormer dynamics models and SL showcase#858
yuecideng wants to merge 50 commits into
mainfrom
codex/sl-rigidformer

Commits on Oct 24, 2026
Commits on Oct 25, 2026
- fix(sl): reject duplicate NeRD acceptance seeds before startup
  yuecideng
  committed
  d591e78
- fix(sl): strengthen RigidFormer reference qualification
  yuecideng
  committed
  3cce8f8
- fix(sl): weight rigid-body losses by valid object count
  yuecideng
  committed
  8fe2341
- Add shared SL updates, offline training and recovery (#857)
  yuecideng
  authored
  a7668ad
- Merge latest main into NeRD and SL foundations
  yuecideng
  committed
  9fd69c7
- Merge latest main before NeRD training hardening
  yuecideng
  committed
  31e2b90
- Integrate NeRD with the shared supervised learner
  yuecideng
  committed
  f03af34
- fix(sl): preserve run identity, best models and NeRD recovery
  yuecideng
  committed
  6dc47c3
- docs(sl): render NeRD adapters with explicit API directives
  yuecideng
  committed
  d9cd707
- fix(nerd): validate statistics and preserve unnormalized model precision
  yuecideng
  committed
  2e99302
- Merge latest main while preserving NeRD precision fixes
  yuecideng
  committed
  bed4b69
- Merge latest main before moving NeRD out of the core
  yuecideng
  committed
  60425ca
- refactor(models): move NeRD into extension and downloadable showcase
  yuecideng
  committed
  048d147
- Merge latest main after NeRD model extension migration
  yuecideng
  committed
  fa16c60
- fix(nerd): retain experiment root for comparison receipts
  yuecideng
  committed
  60f9b07
- fix(nerd): repair asset downloads and remove dedicated unit tests
  yuecideng
  committed
  2c9ee88
- docs(models): define policy and dynamics domain boundaries
  yuecideng
  committed
  f850a5e
- Merge shared model and SL training base into RigidFormer
  yuecideng
  committed
  ddb7c59
- Move RigidFormer into the official dynamics model family
  yuecideng
  committed
  5e0b3b1
- Bound RigidFormer distances at autocast output precision
  yuecideng
  committed
  9b53fa7
- Use a verified index dependency for optional RigidFormer
  yuecideng
  committed
  c29b2c6
- Merge main into RigidFormer model branch
  yuecideng
  committed
  b5f4bf8
- test: align robot catalog checks with vendor layout
  yuecideng
  committed
  b1d8ab4
- Include vendor catalog test compatibility for main CI
  yuecideng
  committed
  ac69eb8

Commits

Commits on Oct 24, 2026

Commits on Oct 25, 2026