perf: accelerate G1 locomotion hot paths with numba#695

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TATP-233 merged 30 commits into

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perf/g1-walk-numba-accel

Jul 8, 2026

Commits on Jul 8, 2026

feat: add g1 joystick numba acceleration
TATP-233
committed
bench: extend g1 joystick numba thread sweep
TATP-233
committed
bench: extend g1 joystick num env sweep
TATP-233
committed
bench: add g1 joystick numba e2e comparison
TATP-233
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bench: sweep g1 joystick collector e2e gains
TATP-233
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bench: default g1 joystick e2e to motrixsim
TATP-233
committed
bench: add collector e2e timing breakdown
TATP-233
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perf: add g1 motion tracking numba backend
TATP-233
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bench: clarify g1 numba speedup accounting
TATP-233
committed
bench: add collector numba ab comparison
TATP-233
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perf: accelerate g1 motion tracking update_state
TATP-233
committed
refactor: consolidate numpy geometry helpers under unilab.utils
TATP-233
committed
style: apply ruff import-order and line-length fixups from make check
TATP-233
committed
perf: accelerate g1 joystick update_state with numba
TATP-233
committed
perf: profile and optimize Motrix reset_done / set_state hot path
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bench: profile RNG noise buffer cost
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fix: satisfy numba accel gate checks
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fix: add deterministic observation noise seed

UniLab Bot
authored and
TATP-233
committed
fix: cap offpolicy torch cpu threads
UniLab Bot
committed
test: support tomli fallback on python 3.10
UniLab Bot
committed
fix: validate mujoco site jacobian inputs
UniLab Bot
committed
test: isolate nan guard dump paths
UniLab Bot
committed
Merge pull request #689 from unilabsim/fix/offpolicy-torch-thread-budget
TATP-233
authored
config: expose numba acceleration for supported g1 tasks
UniLab Bot
committed
feat: show collector env step breakdown
TATP-233
committed
Merge pull request #692 from unilabsim/feat/collector-env-step-breakdown
TATP-233
authored
benchmark: add SAC replay sampling placement test
UniLab Bot
committed
Merge pull request #693 from unilabsim/benchmark/sac-replay-buffer-sampling
TATP-233
authored
Merge remote-tracking branch 'origin/main' into perf/g1-walk-numba-accel
TATP-233
committed
test: move numba parity checks to slow suite
TATP-233
committed

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perf: accelerate G1 locomotion hot paths with numba#695

perf: accelerate G1 locomotion hot paths with numba#695
TATP-233 merged 30 commits into
mainfrom
perf/g1-walk-numba-accel

Commits on Jul 8, 2026

feat: add g1 joystick numba acceleration

bench: extend g1 joystick numba thread sweep

bench: extend g1 joystick num env sweep

bench: add g1 joystick numba e2e comparison

bench: sweep g1 joystick collector e2e gains

bench: default g1 joystick e2e to motrixsim

bench: add collector e2e timing breakdown

perf: add g1 motion tracking numba backend

bench: clarify g1 numba speedup accounting

bench: add collector numba ab comparison

perf: accelerate g1 motion tracking update_state

refactor: consolidate numpy geometry helpers under unilab.utils

style: apply ruff import-order and line-length fixups from make check

perf: accelerate g1 joystick update_state with numba

perf: profile and optimize Motrix reset_done / set_state hot path

bench: profile RNG noise buffer cost

fix: satisfy numba accel gate checks

fix: add deterministic observation noise seed

fix: cap offpolicy torch cpu threads

test: support tomli fallback on python 3.10

fix: validate mujoco site jacobian inputs

test: isolate nan guard dump paths

Merge pull request #689 from unilabsim/fix/offpolicy-torch-thread-budget

config: expose numba acceleration for supported g1 tasks

feat: show collector env step breakdown

Merge pull request #692 from unilabsim/feat/collector-env-step-breakdown

benchmark: add SAC replay sampling placement test

Merge pull request #693 from unilabsim/benchmark/sac-replay-buffer-sampling

Merge remote-tracking branch 'origin/main' into perf/g1-walk-numba-accel

test: move numba parity checks to slow suite