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CONTRIBUTING.md

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How to Contribute

Contributor License Agreement

Contributions to this project must be accompanied by a Contributor License Agreement. You (or your employer) retain the copyright to your contribution, this simply gives us permission to use and redistribute your contributions as part of the project. Head over to https://cla.developers.google.com/ to see your current agreements on file or to sign a new one.

You generally only need to submit a CLA once, so if you've already submitted one (even if it was for a different project), you probably don't need to do it again.

Adding New Tasks

We welcome contributions of new tasks, particularly those that demonstrate:

  • Impressive capabilities in simulation
  • Tasks that have been successfully transferred to real robots

When submitting a new task, please ensure:

  1. The task is well-documented with clear objectives and reward structure
  2. Add the relevant RL hyperparameters to the config file so that it can be independently reproduced
  3. Ensure that it works across at least 3 seeds
  4. Show a video of the behavior
  5. Make sure your new task passes all the tests

For an example of a well-structured task contribution, see @Andrew-Luo1's excellent ALOHA Handover Task PR.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Consult GitHub Help for more information on using pull requests.

Community Guidelines

This project follows Google's Open Source Community Guidelines.

Linting and Code Health

Before submitting a PR, please run:

pip install -e ".[dev]"
pre-commit install
pre-commit run --all-files

or you can run manually

pyink .
isort .
pylint . --rcfile=pylintrc
pytype .

and resolve any issues that pop up.

Testing

To run the tests, use the following command:

pytest