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cli: add 'grl-snam coef-train' (deployable-nav trainer as a first-class command) #102

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Merged
transfix merged 1 commit into from
Sep 27, 2026
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cli: add 'grl-snam coef-train' (deployable-nav trainer as a first-class command) #102

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23 changes: 23 additions & 0 deletions grl_snam/cli.py
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Original file line number Diff line number Diff line change
Expand Up @@ -182,6 +182,29 @@ def train(
_train.train_sdf(sdf_npz, out, steps=steps, batch=batch, lr=lr, threads=threads, seed=seed)


@main.command(
"coef-train",
# Pass every arg straight through to the tool's own argparse (the single source of truth for
# the ~18 flags) instead of re-declaring them here and risking drift. Disabling Click's -h/--help
# lets `grl-snam coef-train --help` reach argparse's full flag listing.
context_settings=dict(ignore_unknown_options=True, help_option_names=[]),
add_help_option=False,
short_help="Train a nav CoefMLP (geometry / grip / risk+lam) and export a deployable .cvcnav.",
)
@click.argument("args", nargs=-1, type=click.UNPROCESSED)
def coef_train_cmd(args) -> None:
"""Train the coefficient net (torch) and export the versioned .cvcnav a pure-C++ host loads via
coef_mlp::load — the DEPLOYABLE nav policy. Geometry by default; grip/risk+learned-lam with
`--rollout bicycle --w-risk <w> --learned-lam` (a risk net deploys through the material drive:
--grip + --material on the host). Thin wrapper over grl_snam.tools.coef_train: all flags pass
straight through, so `grl-snam coef-train --help` prints the full list (--rollout / --steps /
--w-risk / --lam-soft / --learned-lam / --curriculum / --cuda / --out / --seed / --score ...).
"""
from .tools.coef_train import main as _run

raise SystemExit(_run(list(args)))


# ── drive + render ───────────────────────────────────────────────────────────
@main.group()
def capture() -> None:
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