Extending#
Choose the smallest extension point that matches your change. If RLinf already connects the physical hardware, add a real-world task without touching robotics. If you need a new sensor, actuator, or robot, start with one local part and add placement later. For model work, continue from FSDP to Megatron, SGLang, and SFT, then use Advanced Integrations for backend integration and weight transport.
Where each extension point lives and how the pieces fit together.
Add a new RL environment and wire it into the env registry.
Add a task on physical hardware RLinf already supports.
Add one local part, compose the robot, then place it remotely.
Add a HuggingFace model on the FSDP backend.
Add a HuggingFace model on the Megatron+SGLang backend.
Adapt the embodied model to the RLinf rollout worker using the sglang backend, and use various simulators to evaluate the model.
Plug a new model into the SFT training flow.
Add Megatron-Bridge and weight synchronization workflows.