cli: add 'grl-snam coef-train' (deployable-nav trainer as a first-class command) - #102
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…t-class command coef_train (the CoefMLP trainer that exports the versioned .cvcnav a pure-C++ host loads via coef_mlp::load — the DEPLOYABLE nav policy, incl. grip/risk+learned-lam via --rollout bicycle) was only reachable as 'python -m grl_snam.tools.coef_train'. Wire it into the grl-snam Click CLI as 'grl-snam coef-train', a thin passthrough to the tool's argparse (single source of truth for its ~18 flags; -h/--help pass through). Distinct from 'grl-snam train' (SDF self-supervised -> .pt). Verified: lists in --help, --help passes through, and a 2-step run trains + writes a 6-in/4-out .cvcnav.
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coef_train— the trainer that exports the versioned.cvcnava pure-C++ host loads viacoef_mlp::load(the deployable nav policy, including grip/risk + learned-lam via--rollout bicycle --w-risk --learned-lam) — was only reachable aspython -m grl_snam.tools.coef_train. This makes it a first-class command of the installed CLI:grl-snam coef-train.Implementation: a thin passthrough (
nargs=-1, Click-h/--helpdisabled so they reach argparse) togrl_snam.tools.coef_train:main(argv)— the tool's argparse stays the single source of truth for its ~18 flags (no option-mirror drift). Distinct from the existinggrl-snam train(self-supervised SDF →.pt).Verified:
grl-snam --helplistscoef-train.grl-snam coef-train --helpprints the full flag list (--rollout/--steps/--w-risk/--lam-soft/--learned-lam/--curriculum/--cuda/...).grl-snam coef-train --rollout bicycle --w-risk 0.5 --learned-lam --lam-soft 0.4 --steps 2 --out x.cvcnavtrains + writes a 6-in/4-out.cvcnav.