feat: Manager-Based API 迁移与多后端/拆包收口（roadmap #1042） - #1497

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TATP-233 merged 398 commits into

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dev/issue-1042-manager-based-api

Sep 4, 2026

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Commits on Aug 25, 2026

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
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d3ebb59
docs: regenerate support matrix for g1_motion_tracking motrix=Configured
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f6ff019
perf(reset): row-scope reset-path body getters and complete mjwarp set_state timing (#1295)
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03e284a
Merge PR #1297: perf(profiling): 临时逐 term profiling 埋点（#1293）
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2f7d97f
Merge PR #1298: perf(managers): per-term isfinite 扫描降级为采样/可配置（#1294）
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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）
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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）
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922df62
chore: remove temporary per-term profiling instrumentation (#1292 closeout)
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6ed2b32
Merge PR #1301: chore: 删除 #1293 临时逐 term profiling 埋点（#1292 收尾）
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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
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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

Commits on Aug 28, 2026

Commits on Aug 31, 2026

Commits on Sep 1, 2026

Commits on Sep 2, 2026

docs: record unisim extraction boundary ADR (#1430)
TATP-233
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85bdb34
feat: connect UniLab consumers to unisim-core (#1433)
TATP-233
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e9bfe48
docs: document unisim-core migration (#1434)
TATP-233
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679d946
fix: support macOS affinity and cache CI assets
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1c7a40e
chore: consume unisim-core 0.1.5
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8763513
feat(drake): document and package Drake backend
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e43913e
feat(drake): add standalone setup path
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7d63201
feat: remove in-tree physics backend implementations
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fac3bb6
docs: finalize unisim-core migration guidance
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81e56e1
Merge remote-tracking branch 'origin/dev/issue-1042-manager-based-api' into chore/issue-1428-final
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b894a72
style: normalize Drake test imports
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205474c
chore: consume unisim-core 0.1.11
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41e44b5
docs: clarify Drake installation and training
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chore: consume unisim-core 0.1.12
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ed5cdab
Merge remote-tracking branch 'origin/dev/issue-1042-manager-based-api' into chore/issue-1428-final
TATP-233
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74ace13
Merge pull request #1438 from unilabsim/chore/issue-1428-final
TATP-233
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07c4b44
fix(cli): expose Drake simulation route
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6aca651
Merge pull request #1439 from unilabsim/dev/issue-1428-unisim-extraction
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47354c5
test: remove local unisim checkout dependency
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41215d5
docs: reorganize backend documentation
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1b2b31c
Merge pull request #1441 from unilabsim/fix/issue-1428-no-local-unisim-test
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0a00805
Merge pull request #1440 from unilabsim/fix/docs-backend-index
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2c9ebf6
fix: preserve interactive viewer camera controls
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2ea9a48
feat: route MuJoCo interactive eval to viewer script
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70e1503
feat(drake): render Drake physics with native MuJoCo
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0b1f450
fix: enable policy actions in interactive eval
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081042f
Merge pull request #1443 from unilabsim/fix/interactive-camera-manual-camera
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8fe3221
feat(drake): support macOS batch training
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f9fb9e0
Merge pull request #1444 from unilabsim/fix/drake-macos-training
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704877b
merge: resolve Drake rendering conflicts
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0bcfc1e
Merge pull request #1442 from unilabsim/feat/drake-mujoco-native-render
TATP-233
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96b1139
build: use released unisim-core from PyPI
TATP-233
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12e15fd
Merge pull request #1445 from unilabsim/chore/use-pypi-unisim-core
TATP-233
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fd9c942
fix(drake): detect system Eigen headers
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2a4b917
fix(test): make MuJoCo affinity test hermetic
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2488a41
fix(assets): compact asset download output
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e2cbe50
Merge pull request #1446 from unilabsim/fix/pull-assets-compact-progress
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3d6bdf5
fix(assets): print per-robot pull progress
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31a21ec
test: remove obsolete audit scaffolding
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675da74
style: normalize cleaned test modules
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e0c9088
ci: lint test modules for dead names
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03f5ece
test: name registry policy by current contract
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1223b78
feat: complete minimal manager-based microduck slice
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3fa9546
fix(test): assert removed backend module path
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870a9a9
refactor(mba): keep task semantics out of shared terms
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refactor(mba): keep scalar metric in shared catalog
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422e1c0

Commits on Sep 3, 2026

Commits on Sep 4, 2026