mjlab · diff

git:20260802.5fa1771 to git:20260906.525ee24

2 added, 2 removed. Audit A to A.

---

name: mjlab

description: Use when working on MJLab locomotion evaluation, SONIC checkpoint scoring, SkyPilot MJLab YAMLs, or Workbench MJLab CLI behavior.

---

# MJLab

MJLab is the locomotion evaluation stage for SONIC Workbench workflows.

## Interfaces

CLI:

```bash

npa workbench mjlab eval

npa workbench mjlab workflow

npa workbench mjlab status

npa workbench mjlab list

```

SkyPilot YAML:

- - `npa/workflows/workbench/npa-workflows/mjlab-eval.yaml`

- - `npa/workflows/workbench/npa-workflows/sonic-locomotion-finetuning.yaml`

+ - `workflows/testing/mjlab-eval.yaml`

+ - `workflows/testing/sonic-locomotion-finetuning.yaml`

## Routing And Data Flow

Route MJLab evaluation to H100 for the checked-in workflow templates.

Inputs and outputs use S3 paths:

- `--input-path`: retargeted motion or rollout artifacts.

- `--checkpoint`: SONIC checkpoint artifact.

- `--output-path`: MJLab evaluation output prefix.

The result artifact is `mjlab_eval.json`.

## Workflow Constraint

Keep orchestration logic in SkyPilot YAML. Do not add a Python runner script for

the SONIC locomotion fine-tuning path.