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feat: add sharpa init geom-scale randomization - #286

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TATP-233 merged 5 commits into
mainfrom
test/dr-reset-apply-per-field
Apr 16, 2026
Merged

TATP-233 merged 5 commits into
mainfrom
test/dr-reset-apply-per-field

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Summary

  • add Sharpa init-lifecycle geom-scale randomization on the MuJoCo backend
  • document the Sharpa-hand usage and init-vs-reset lifecycle boundary
  • add a construction benchmark sweep for Sharpa init-DR variant counts and fix related typing issues

Validation

  • make check
  • pre-commit hooks during commit (ruff, pyright, mypy)

@TATP-233
TATP-233 merged commit 15888b0 into main Apr 16, 2026
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@TATP-233
TATP-233 deleted the test/dr-reset-apply-per-field branch April 16, 2026 19:57
TATP-233 added a commit that referenced this pull request May 4, 2026
feat: add sharpa init geom-scale randomization
TATP-233 added a commit that referenced this pull request May 30, 2026
feat: add sharpa init geom-scale randomization
TATP-233 added a commit that referenced this pull request Sep 4, 2026
feat: add sharpa init geom-scale randomization
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