feat: add flashsac g1_motion_tracking task owners and newton/genesis backends - #1603
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…backends - add flashsac g1_motion_tracking task owner configs (base + mujoco, motrix, mjwarp, newton, genesis) mirroring the sac task budget (2048 envs, 25000 iterations) - register genesis and newton backends for G1MotionTrackingSAC; the get_motion_body_ids capability gap (unilabsim/unisim#137) is fixed in unisim-core 1.5.1 - bump unisim-core to >=1.5.1 - add training.inference_request_timeout_sec to flashsac config (mirrors sac); newton/genesis owners declare 180s, effective once unilabsim/unilab_rl#26 forwards it for flash_sac - isaacgym/isaacsim stay unregistered: worker state publish/reset path broken (unilabsim/unisim#141) - update config/script/benchmark tests and regenerate support matrix Validation: - make check: pass - make test: 1486 passed, 0 failed - flashsac g1_motion_tracking training vs fastsac baseline (2048 envs, 51.2M steps, final 25.98 / best 32.64): mjwarp 26.86, motrix 29.93, mujoco 25.93 (full budget), newton 26.50 / best 34.15 (full budget, 51.4M steps), genesis 23.94 / best 27.93 at quarter budget (512 envs, 12.8M steps; reward 18.24 @10m steps vs baseline 12.33)
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Summary
g1_motion_trackingtask owner configs (base+mujoco,motrix,mjwarp,newton,genesis), mirroring the SAC task budget (2048 envs, 25000 iterations, gamma 0.99, tau 0.05, updates_per_step 4, policy_frequency 2).genesisandnewtonbackends forG1MotionTrackingSAC. Theirget_motion_body_idscapability gap (newton/genesis backends: implement SimBackend.get_motion_body_ids (blocks motion-tracking tasks) unilabsim/unisim#137) is fixed in unisim-core 1.5.1 (feat: implement get_motion_body_ids on newton/genesis, fix subprocess offset (#137) unilabsim/unisim#140).unisim-coreto>=1.5.1.training.inference_request_timeout_secto the flashsac config (mirrors sac). The newton/genesis owners declare 180s; it becomes effective once flash_sac double-buffer builder does not forward inference_request_timeout_sec unilabsim/unilab_rl#26 forwards the knob for flash_sac.isaacgym/isaacsimstay unregistered: worker state publish/reset path is broken (isaacgym/isaacsim: broken body-state publish / reset for motion-tracking workloads unilabsim/unisim#141).Validation
make check: passmake test: 1486 passed, 0 failedmake test-all: pass (module-mode 34/34, script-mode 35/35)uv run python scripts/audit_sim2sim_contracts.py --trees flashsac: g1_motion_tracking backends [genesis, mjwarp, motrix, mujoco, newton] mutually TRANSFERABLETraining verification vs fastsac baseline (2048 envs, 51.2M steps: final 25.98 / best 32.64 / ep_len 233.9):
Notes:
inference_request_timeout_secand tick-0 env build at 2048 envs exceeds the 30s default (flash_sac double-buffer builder does not forward inference_request_timeout_sec unilabsim/unilab_rl#26); at matched env steps genesis is well ahead of the baseline.play_video.mp4.Refs: unilabsim/unisim#137, unilabsim/unisim#140, unilabsim/unisim#141, unilabsim/unilab_rl#26