Skip to content

unilab 1.3.5

Choose a tag to compare

View all tags
@github-actions github-actions released this 12 Oct 16:17
· 343 commits to main since this release
v1.3.5
60b1d3a

What's Changed

  • release: unilab 1.3.4 by @TATP-233 in #2121
  • fix(env): commit MuJoCo model-field DR through host bridge by @TATP-233 in #2123
  • refactor(runtime): remove Numba and G1 CPU motion command by @TATP-233 in #2125
  • refactor(managers): remove NumPy from core manager seams by @TATP-233 in #2127
  • refactor(managers): require Torch RNG for scheduling by @TATP-233 in #2128
  • refactor(envs): use Torch RNG for generic event sampling by @TATP-233 in #2129
  • refactor(managers): make noise and temporal buffers Torch-only by @TATP-233 in #2126
  • refactor(envs): use Torch RNG for generic commands and IMU bias by @TATP-233 in #2130
  • refactor(locomotion): use Torch RNG for phase and terrain resets by @TATP-233 in #2131
  • test(tasks): restore locomotion Torch RNG boundary by @TATP-233 in #2133
  • refactor(managers): require Torch reward and termination results by @TATP-233 in #2132
  • refactor(managers): close Phase 2 Torch carrier boundary by @TATP-233 in #2134
  • refactor(entity): own cold tensor reset tables by @TATP-233 in #2135
  • refactor(locomotion): keep gait rewards on Torch by @TATP-233 in #2136
  • refactor(motion): require packed host bridge state reads by @TATP-233 in #2137
  • refactor(motion): publish loader tensors through cold leaf by @TATP-233 in #2138
  • refactor(locomotion): remove dead height scan host runtime by @TATP-233 in #2139
  • refactor(managers): negotiate sensors through cold binding by @TATP-233 in #2140
  • refactor(locomotion): remove downstream rough terrain runtime by @TATP-233 in #2141
  • refactor(motion): remove legacy NumPy sampler by @TATP-233 in #2142
  • refactor(motion): remove dead torque reference loader by @TATP-233 in #2143
  • refactor(runtime): own Torch dtype configuration by @TATP-233 in #2144
  • refactor(utils): remove dead tensor conversion shims by @TATP-233 in #2145
  • refactor(utils): prune unused rotation reference API by @TATP-233 in #2146
  • refactor(curricula): log Torch scalar stages by @TATP-233 in #2147
  • refactor(observations): remove manager NumPy helpers by @TATP-233 in #2148
  • refactor(observations): keep IMU bias on Torch by @TATP-233 in #2149
  • refactor(rewards): compute generic kernels on Torch by @TATP-233 in #2150
  • refactor(actions): materialize cold tables as Torch by @TATP-233 in #2151
  • refactor(commands): remove residual NumPy imports by @TATP-233 in #2152
  • refactor(events): own encoder bias joint selection by @TATP-233 in #2153
  • refactor(reset): accept Torch host write values by @TATP-233 in #2154
  • refactor(events): keep PD gain samples on Torch by @TATP-233 in #2155
  • refactor(events): sample body impulses on Torch by @TATP-233 in #2156
  • refactor(events): keep generic DR samples on Torch by @TATP-233 in #2157
  • refactor(events): keep model-field DR host path on Torch by @TATP-233 in #2158
  • refactor(events): keep root velocity deltas on Torch by @TATP-233 in #2159
  • refactor(events): compose root resets on Torch by @TATP-233 in #2160
  • refactor(events): cache mass-inertia scales on Torch by @TATP-233 in #2161
  • refactor(events): keep CoM samples on Torch by @TATP-233 in #2162
  • refactor(entity): own tensor encoder-bias updates by @TATP-233 in #2163
  • refactor(events): keep impulse lifecycle state on Torch by @TATP-233 in #2164
  • refactor(events): keep startup mass table on Torch by @TATP-233 in #2165
  • refactor(entity): require tensor root reset rows by @TATP-233 in #2166
  • refactor(events): select PD defaults on Torch by @TATP-233 in #2167
  • refactor(entity): own host encoder-bias updates by @TATP-233 in #2168
  • refactor(locomotion): compute base rewards on Torch by @TATP-233 in #2169
  • refactor(locomotion): keep gait tensor leaves on Torch by @TATP-233 in #2170
  • refactor(locomotion): keep sensor rewards on Torch by @TATP-233 in #2171
  • refactor(g1): keep double-stance mask on Torch by @TATP-233 in #2172
  • refactor(g1): keep air-time state on Torch by @TATP-233 in #2173
  • refactor(g1): cache pose weights on Torch by @TATP-233 in #2174
  • refactor(locomotion): read base height from tensor plan by @TATP-233 in #2175
  • refactor(locomotion): read joint deviation from tensor plan by @TATP-233 in #2176
  • refactor(gait): consume packed sensor reads by @TATP-233 in #2177
  • refactor(gait): cache contact columns on device by @TATP-233 in #2178
  • refactor(gait): read foot state from tensor plan by @TATP-233 in #2179
  • refactor(gait): read clearance heights from tensor plan by @TATP-233 in #2180
  • chore(gait): remove dead host body readers by @TATP-233 in #2181
  • refactor(go2): use sensor tensor velocity rewards by @TATP-233 in #2182
  • chore(locomotion): remove entity velocity reward terms by @TATP-233 in #2183
  • refactor(go2): consume packed foot phase reads by @TATP-233 in #2184
  • refactor(g1): keep phase reward inputs on Torch by @TATP-233 in #2185
  • chore(locomotion): remove dead rough owner module by @TATP-233 in #2186
  • refactor(go2): require packed foot sensor reads by @TATP-233 in #2187
  • refactor(g1): require packed sensor reads by @TATP-233 in #2188
  • refactor(locomotion): require packed vec3 sensor reads by @TATP-233 in #2189
  • refactor(g1): require packed height reads by @TATP-233 in #2190
  • refactor(g1): compute velocity rewards on Torch by @TATP-233 in #2191
  • refactor(g1): remove velocity and tilt NumPy branches by @TATP-233 in #2192
  • refactor(g1): keep gait gates and contacts on Torch by @TATP-233 in #2193
  • refactor(gait): require packed contact reads by @TATP-233 in #2194
  • refactor(g1): keep contact terms on Torch by @TATP-233 in #2195
  • refactor(g1): compute phase targets on Torch by @TATP-233 in #2196
  • refactor(g1): keep shared reward kernels on Torch by @TATP-233 in #2197
  • refactor(locomotion): return commands on Torch by @TATP-233 in #2198
  • refactor(gait): require Torch reset rows by @TATP-233 in #2199
  • refactor(locomotion): keep cold configs on Torch by @TATP-233 in #2200
  • refactor(gait): materialize contact columns on Torch by @TATP-233 in #2201
  • refactor(g1): require Torch term carriers by @TATP-233 in #2202
  • refactor(gait): require packed sensor reads by @TATP-233 in #2203
  • refactor(gait): require Torch carriers by @TATP-233 in #2204
  • refactor(gait): require packed standing reads by @TATP-233 in #2205
  • refactor(locomotion): remove common NumPy terms by @TATP-233 in #2206
  • refactor(reset): require Torch row carriers by @TATP-233 in #2207
  • refactor(g1): track joint acceleration on Torch by @TATP-233 in #2208
  • chore(locomotion): remove dead height scan module by @TATP-233 in #2209
  • refactor(motion): reuse owner Torch defaults by @TATP-233 in #2210
  • refactor(motion): validate cold ranges on Torch by @TATP-233 in #2211
  • chore(motion): remove dead body terms by @TATP-233 in #2212
  • refactor(motion): consume command carriers directly by @TATP-233 in #2213
  • refactor(events): require tensor encoder bias by @TATP-233 in #2214
  • refactor(events): validate ranges on Torch by @TATP-233 in #2215
  • refactor(env): remove NumPy RNG seam by @TATP-233 in #2216
  • fix(rng): close Torch RNG followups by @TATP-233 in #2217
  • refactor(motion): validate runtime scalars natively by @TATP-233 in #2218
  • refactor(env): validate config scalars natively by @TATP-233 in #2219
  • refactor(events): bind gravity on Torch by @TATP-233 in #2220
  • refactor(events): select model defaults on Torch by @TATP-233 in #2221
  • refactor(events): select defaults on Torch by @TATP-233 in #2222
  • chore(events): remove dead NumPy operation by @TATP-233 in #2223
  • refactor(events): resolve model-field ranges on Torch by @TATP-233 in #2224
  • refactor(events): validate impulse scalars natively by @TATP-233 in #2225
  • refactor(events): build tensor SE3 bounds natively by @TATP-233 in #2226
  • refactor(events): select root reset rows on Torch by @TATP-233 in #2227
  • refactor(events): keep host DR staging on Torch by @TATP-233 in #2228
  • refactor(events): pass root velocity rows on Torch by @TATP-233 in #2229
  • chore(events): correct CoM startup cache type by @TATP-233 in #2230
  • refactor(events): bind model-field defaults on Torch by @TATP-233 in #2231
  • refactor(events): bind reset DR defaults on Torch by @TATP-233 in #2232
  • refactor(events): select string ranges on Torch by @TATP-233 in #2233
  • refactor(events): pass model-field host writes on Torch by @TATP-233 in #2234
  • chore(events): tighten tensor annotations by @TATP-233 in #2235
  • refactor(events): reset body impulses on Torch by @TATP-233 in #2236
  • refactor(events): bind model-field IDs on Torch by @TATP-233 in #2237
  • refactor(events): bind impulse body IDs on Torch by @TATP-233 in #2238
  • refactor(rng): require Torch-native inputs by @TATP-233 in #2239
  • refactor(managers): close NumPy protocol surface by @TATP-233 in #2240
  • refactor(reset): require Torch gravity writes by @TATP-233 in #2241
  • refactor(reset): require Torch joint writes by @TATP-233 in #2242
  • refactor(events): consume impulse quats from packed reads by @TATP-233 in #2243
  • chore(motion): remove manager NumPy import by @TATP-233 in #2244
  • refactor(motion): own clip metadata on Torch by @TATP-233 in #2245
  • refactor(motion): require Torch state-store IDs by @TATP-233 in #2246
  • refactor(reset): require Torch root-state writes by @TATP-233 in #2247
  • refactor(reset): require Torch body DR writes by @TATP-233 in #2248
  • refactor(reset): require Torch gain and root-part writes by @TATP-233 in #2249
  • refactor(reset): require Torch model-field values by @TATP-233 in #2250
  • test(boundary): gate runtime NumPy imports by @TATP-233 in #2251
  • chore(env): declare tensor reset cache key by @TATP-233 in #2252
  • fix(entity): preserve Torch default sources by @TATP-233 in #2253
  • refactor(rewards): consume owner Torch defaults by @TATP-233 in #2254
  • refactor(motion): use packed joint limits state by @TATP-233 in #2255
  • refactor(observations): compile joint reads on all devices by @TATP-233 in #2256
  • refactor(observations): read root state from packed views by @TATP-233 in #2257
  • refactor(terminations): read orientation from packed root by @TATP-233 in #2258
  • refactor(rewards): read root terms from packed state by @TATP-233 in #2259
  • refactor(terms): read root height from packed state by @TATP-233 in #2260
  • refactor(terminations): validate packed nan state by @TATP-233 in #2261
  • test(boundary): gate runtime NumPy conversions by @TATP-233 in #2262
  • docs(architecture): record runtime NumPy boundary by @TATP-233 in #2263
  • docs(changelog): record Numba closeout by @TATP-233 in #2264
  • docs(tasks): remove stale NumPy runtime claims by @TATP-233 in #2265
  • feat(runtime): move MuJoCo G1 walk resets to packed tensor owners by @TATP-233 in #2266
  • chore(runtime): remove global NumPy training seed by @TATP-233 in #2267
  • chore(base): remove rotation transition shim by @TATP-233 in #2268
  • test(boundary): pin production NumPy leaf allowlist by @TATP-233 in #2269
  • fix(motion): select NPZ body columns by local IDs by @TATP-233 in #2270
  • fix(runtime): keep CUDA Manager carriers on device by @TATP-233 in #2271
  • merge: Numba closeout and Torch-only tensor runtime by @TATP-233 in #2273
  • refactor(runtime): require packed MDP views and shrink Entity host surface by @TATP-233 in #2286
  • perf(reset): quantify mask-driven reset flow by @TATP-233 in #2287
  • perf(reset): remove production dynamic row flow by @TATP-233 in #2292
  • refactor: consume semantic backend boundaries by @TATP-233 in #2293
  • refactor: consume tensor-only unisim lifecycle by @TATP-233 in #2290
  • perf(reset): replace dynamic rows with packed masks by @TATP-233 in #2294
  • refactor(training): move seed owner out of utils by @TATP-233 in #2295
  • feat(base): consume packed reset transaction by @TATP-233 in #2289
  • test(runtime): add CUDA Manager carrier placement contracts by @TATP-233 in #2297
  • feat(training): persist backend tensor runtime diagnostics in run manifest by @TATP-233 in #2298
  • chore(deps): bump unilab-rl to 1.4.12 by @TATP-233 in #2299
  • fix(base): stabilize packed mask reset paths by @TATP-233 in #2300
  • chore(deps): bump unilab-rl to 1.4.12 in the ROCm profile by @TATP-233 in #2301
  • refactor(reset): sink reset composition into UniSim packed transaction by @TATP-233 in #2302
  • fix(env): restore G1 reset observation boundaries by @TATP-233 in #2305

Full Changelog: v1.3.4...v1.3.5

Contributors

TATP-233
Assets 4
Loading