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COMPASS Handbook

GitHub

COMPASS Handbook

GitHub

Table of Contents

Installation

Quick start
Docker-as-venv install
Agentic skills
Adding a new embodiment or scene

Workflows

Training residual RL specialists
Recording distillation data
Distilling the generalist
Exporting to ONNX / TensorRT
GR00T post-training (VLA fine-tuning)

ROS2 Deployment

ROS2 Deployment
Isaac Sim setup

Reference

OSMO cloud submission
Auto OMap from USDs
Contributing

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