Feat/a2arm pos force - #1050

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feat/a2arm-pos-force

Commits on Aug 17, 2026

docs: define NumPy manager API contract (#1043) (#1044)
TATP-233
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4315086
feat(managers): port manager core to numpy (#1046)
TATP-233
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1145e17
feat(base): add numpy entity facade (#1048)
TATP-233
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b7673d7
feat(env): add manager-based lifecycle (#1051)
TATP-233
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211c48d
feat(backend): expose actuation metadata (#1053)
TATP-233
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f8ebee0
feat(env): add NumPy joint position action (#1055)
TATP-233
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6ab34ea
feat(env): add NumPy velocity command (#1057)
TATP-233
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8ff4487
feat(env): add NumPy observation terms (#1060)
TATP-233
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e843604
feat(env): add NumPy termination terms (#1062)
TATP-233
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b77960f
feat(env): add NumPy reward terms (#1065)
TATP-233
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63dad7d
feat(env): add reset event state transaction (#1067)
TATP-233
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f28d637
feat(config): add manager term overlays (#1069)
TATP-233
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c5e1a2f
feat(config): route manager reward overrides (#1071)
TATP-233
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31f25c1
feat: add manager root-state reset contract (#1072) (#1073)
TATP-233
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9630680
feat(events): add uniform root-state reset (#1075)
TATP-233
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8c5b0c7

Commits on Aug 18, 2026

Commits on Aug 19, 2026

Commits on Aug 20, 2026

Commits on Aug 21, 2026

Commits on Aug 22, 2026

refactor: rehome training/ modules and break algos<->training interdependency (#1243) (#1251)
TATP-233
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6047408

Commits on Aug 23, 2026

Commits on Aug 24, 2026

Commits on Aug 25, 2026

feat(benchmark): add opt-in mjwarp case for sac/g1_motion_tracking collector benchmark
TATP-233
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77ca6dd
feat(assets): add T800 MuJoCo model contract

lemon-star608
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TATP-233
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27d2299
feat(assets): add T800 binary asset resolver

lemon-star608
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TATP-233
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f1c4ad2
feat(t800): add Manager-Based action and reward terms

lemon-star608
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TATP-233
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e117aab
feat(t800): register Manager-Based walk task

lemon-star608
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TATP-233
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31a3dab
feat(ppo): add Manager-Based T800 walk owner

lemon-star608
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TATP-233
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d392609
feat(sac): add Manager-Based T800 walk owner

lemon-star608
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TATP-233
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4537953
test: record T800 support matrix evidence

lemon-star608
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TATP-233
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55ad4da
tune(t800): extend default training iterations

lemon-star608
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TATP-233
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adeb07a
docs: document T800 assets and support

lemon-star608
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TATP-233
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92a1b95
style: apply ruff format to mjwarp benchmark test
TATP-233
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ed46527
docs: regenerate support matrix for sac g1_motion_tracking mjwarp owner
TATP-233
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3139164
feat(sac): add T800 walk-flat mjwarp owner
TATP-233
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9cafe12
perf(profiling): add temporary per-term timing instrumentation for managers (#1293)
TATP-233
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f544914
style: apply ruff format to test_offpolicy_collector_active_benchmark.py
TATP-233
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8718d03
docs: regenerate support matrix for g1_motion_tracking motrix=Configured
TATP-233
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062901e
perf(managers): sample per-term finite checks instead of every-step scans (#1294)
TATP-233
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1af9323
docs: regenerate support matrix for g1_motion_tracking motrix=Configured
TATP-233
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ef8c8e6
style: apply ruff format (post-commit hook output of make test-all)
TATP-233
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a27bc2c
perf(tasks,managers): eliminate NumPy temporaries in motion tracking hot terms (#1296)
TATP-233
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9ec68c0
fix: narrow scratch typing for pyright; apply ruff format
TATP-233
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d3ebb59
docs: regenerate support matrix for g1_motion_tracking motrix=Configured
TATP-233
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f6ff019
perf(reset): row-scope reset-path body getters and complete mjwarp set_state timing (#1295)
TATP-233
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03e284a
Merge PR #1297: perf(profiling): 临时逐 term profiling 埋点（#1293）
TATP-233
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2f7d97f
Merge PR #1298: perf(managers): per-term isfinite 扫描降级为采样/可配置（#1294）
TATP-233
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c691a61
Merge pull request #1222 from unilabsim/feat/t800-walk-flat
TATP-233
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08aa9a4
Merge PR #1299: perf(tasks,managers): 纯 NumPy 临时数组消除（#1296）
TATP-233
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a2a5bb1
Merge PR #1300: perf(reset): reset 路径 backend 边界 row-scoped 化与 set_state 计时补齐（#1295）
TATP-233
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922df62
chore: remove temporary per-term profiling instrumentation (#1292 closeout)
TATP-233
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6ed2b32
Merge PR #1301: chore: 删除 #1293 临时逐 term profiling 埋点（#1292 收尾）
TATP-233
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39bc8d4
Merge dev/issue-1042-manager-based-api into dev/issue-1292-motion-tracking-manager-perf
TATP-233
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2c4e6e0
Merge pull request #1302 from unilabsim/dev/issue-1292-motion-tracking-manager-perf
TATP-233
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54d5b4f
Revert "Merge PR #1298: perf(managers): per-term isfinite 扫描降级为采样/可配置（#1294）"
TATP-233
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d95c85f
perf(motion): move fixed hot terms to numba kernels
TATP-233
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5de05ab
Merge pull request #1309 from unilabsim/perf/issue-1306-motion-hot-numba
TATP-233
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5dfca98
perf(body-state): fuse selected body cache copies
TATP-233
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970eacf
Merge pull request #1310 from unilabsim/perf/issue-1307-body-state-copy
TATP-233
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2b92598

Commits on Aug 26, 2026

Commits on Aug 27, 2026