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perf: accelerate G1 locomotion hot paths with numba #695

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Merged
TATP-233 merged 30 commits into from
Jul 8, 2026
Merged

perf: accelerate G1 locomotion hot paths with numba #695

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c9693d4
feat: add g1 joystick numba acceleration
TATP-233 Jul 7, 2026
4b272c1
bench: extend g1 joystick numba thread sweep
TATP-233 Jul 7, 2026
72ce7da
bench: extend g1 joystick num env sweep
TATP-233 Jul 7, 2026
e86a391
bench: add g1 joystick numba e2e comparison
TATP-233 Jul 7, 2026
076367b
bench: sweep g1 joystick collector e2e gains
TATP-233 Jul 7, 2026
d345fbc
bench: default g1 joystick e2e to motrixsim
TATP-233 Jul 7, 2026
9ca3d40
bench: add collector e2e timing breakdown
TATP-233 Jul 7, 2026
2066ef9
perf: add g1 motion tracking numba backend
TATP-233 Jul 7, 2026
6f408c5
bench: clarify g1 numba speedup accounting
TATP-233 Jul 7, 2026
60889e7
bench: add collector numba ab comparison
TATP-233 Jul 7, 2026
b54ac55
perf: accelerate g1 motion tracking update_state
TATP-233 Jul 7, 2026
b813b0e
refactor: consolidate numpy geometry helpers under unilab.utils
TATP-233 Jul 7, 2026
898473b
style: apply ruff import-order and line-length fixups from make check
TATP-233 Jul 7, 2026
3407280
perf: accelerate g1 joystick update_state with numba
TATP-233 Jul 7, 2026
f7a5bfc
perf: profile and optimize Motrix reset_done / set_state hot path
TATP-233 Jul 7, 2026
dd22289
bench: profile RNG noise buffer cost
TATP-233 Jul 7, 2026
f539e55
fix: satisfy numba accel gate checks
TATP-233 Jul 7, 2026
32b9719
fix: add deterministic observation noise seed
Jul 7, 2026
e7a3c36
fix: cap offpolicy torch cpu threads
Jul 8, 2026
3d9c40e
test: support tomli fallback on python 3.10
Jul 8, 2026
d76c530
fix: validate mujoco site jacobian inputs
Jul 8, 2026
4771b1a
test: isolate nan guard dump paths
Jul 8, 2026
1c4971d
Merge pull request #689 from unilabsim/fix/offpolicy-torch-thread-budget
TATP-233 Jul 8, 2026
5f65d25
config: expose numba acceleration for supported g1 tasks
Jul 8, 2026
53494d0
feat: show collector env step breakdown
TATP-233 Jul 8, 2026
30af93d
Merge pull request #692 from unilabsim/feat/collector-env-step-breakdown
TATP-233 Jul 8, 2026
6f7a999
benchmark: add SAC replay sampling placement test
Jul 8, 2026
0f7a867
Merge pull request #693 from unilabsim/benchmark/sac-replay-buffer-sa…
TATP-233 Jul 8, 2026
253685d
Merge remote-tracking branch 'origin/main' into perf/g1-walk-numba-accel
TATP-233 Jul 8, 2026
1339357
test: move numba parity checks to slow suite
TATP-233 Jul 8, 2026
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2 changes: 1 addition & 1 deletion AGENTS.md
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Expand Up @@ -46,7 +46,7 @@ UniLab 是一个 **高性能、模块化、contract 驱动** 的 RL infrastructu
- backend contract: `src/unilab/base/backend/base.py`
- training run helpers: `src/unilab/training/run.py`
- visualization helpers: `src/unilab/visualization/`
- env shared numeric helpers: `src/unilab/envs/common/rotation.py`, `src/unilab/envs/common/math.py`
- shared numeric helpers: `src/unilab/utils/rotation.py`, `src/unilab/utils/geometry.py`
- MLX rotation helpers: `src/unilab/algos/mlx/common/rotation.py`
- config schema: `src/unilab/structured_configs.py`
- async runner: `src/unilab/ipc/async_runner.py`
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