From 04453c8321b61a80c3d430b7e0dc395043c3897e Mon Sep 17 00:00:00 2001 From: TATP-233 Date: Sun, 27 Sep 2026 05:29:15 +0800 Subject: [PATCH] release: unilab 1.3.3 - Bump version 1.3.2 -> 1.3.3 (pyproject.toml + pyproject.rocm.toml) - Hand-splice the root package version into uv.lock and uv.rocm.lock (minimal-churn convention from df5c3a16) - Add the 1.3.3 changelog section: WarpSAC algorithm and G1 owners (unilab-rl 1.4.0), viser as a required dependency with playback on all playback-capable backends including motrix, IsaacSim PhysX GPU contact buffer knobs, training.log_interval + batched TensorBoard logging, unisim-core>=1.7.8 / unilab-rl==1.4.2 / torch 2.14 cu130 pins, ONNX opset 18 export, and the mjpython / headerless-CSV / ROCm fixes --- docs/sphinx/source/changelog.md | 166 ++++++++++++++++++++++++++++++++ pyproject.rocm.toml | 2 +- pyproject.toml | 2 +- uv.lock | 2 +- uv.rocm.lock | 2 +- 5 files changed, 170 insertions(+), 4 deletions(-) diff --git a/docs/sphinx/source/changelog.md b/docs/sphinx/source/changelog.md index 0f45f30a1..f0866319a 100644 --- a/docs/sphinx/source/changelog.md +++ b/docs/sphinx/source/changelog.md @@ -13,6 +13,172 @@ UniLab 遵循[语义化版本](https://semver.org/)。本共享页面以中英 PyPI 版本变更与未发布变更；发布日期采用 PyPI 上传日期。完整提交历史请参阅 [UniLab 仓库](https://github.com/unilabsim/UniLab)。 +## 1.3.3 (2026-09-27) + +### Added / 新增 + +- Added the WarpSAC off-policy algorithm shipped by unilab-rl 1.4.0: the + `conf/warpsac` owner config tree with G1 owners for `g1_walk_flat` and + `g1_motion_tracking` on the MuJoCo and mjwarp backends, the + `train_warpsac.py` entrypoint, CLI and documentation wiring, and a + stabilized G1 walk replay profile; explicit WarpSAC playback run selection + is now honored + ([#1645](https://github.com/Motphys/UniLab/pull/1645)). + 新增 unilab-rl 1.4.0 提供的 WarpSAC off-policy 算法：`conf/warpsac` owner + 配置树，覆盖 MuJoCo 与 mjwarp 后端的 `g1_walk_flat` 与 + `g1_motion_tracking` G1 owner、`train_warpsac.py` 入口、CLI 与文档接线， + 以及稳定化的 G1 walk 回放 profile；显式指定的 WarpSAC 回放 run 现在会被 + 正确遵循（#1645）。 + +- The viser browser-based viewer is now a required dependency and works on + every playback-capable backend: `eval --render-mode viser` and + `training.play_render_mode=viser` route through the shared playback loop + for mujoco/mjwarp/newton/drake/superdex + ([#1631](https://github.com/Motphys/UniLab/issues/1631), + [#1632](https://github.com/Motphys/UniLab/pull/1632), + [#1638](https://github.com/Motphys/UniLab/pull/1638)), and the Motrix + backend gained viser rendering through the unisim-core 1.7.6 physics-state + playback contract (portable entity scenes and audited whole-MJCF scenes) + plus the 1.7.8 `` merge fix + ([#1639](https://github.com/Motphys/UniLab/pull/1639)). The `viser.*` + config group (port, max_envs, display_mode, env_idx) is now available on + the appo/sac/flashsac configs to match ppo. + viser 浏览器查看器成为必需依赖，并支持所有具备回放能力的后端： + `eval --render-mode viser` 与 `training.play_render_mode=viser` 通过共享 + 回放循环支持 mujoco/mjwarp/newton/drake/superdex（#1631、#1632、#1638）； + Motrix 后端借助 unisim-core 1.7.6 的 physics-state 回放契约（portable + 实体场景与经审计的 whole-MJCF 场景）及 1.7.8 的 `` 合并修复 + 获得 viser 渲染能力（#1639）。`viser.*` 配置组（port、max_envs、 + display_mode、env_idx）在 appo/sac/flashsac 配置上对齐 ppo 提供。 + +- Added the IsaacSim PhysX GPU contact buffer knobs + `isaacsim_gpu_max_rigid_contact_count` and + `isaacsim_gpu_max_rigid_patch_count` to `EnvCfg`, forwarded with fail-fast + validation to the UniSim factory and omitted when unset so older + unisim-core releases fail closed instead of seeing unknown kwargs + ([#1636](https://github.com/Motphys/UniLab/pull/1636)). + `EnvCfg` 新增 IsaacSim PhysX GPU 接触缓冲旋钮 + `isaacsim_gpu_max_rigid_contact_count` 与 + `isaacsim_gpu_max_rigid_patch_count`，以 fail-fast 校验转发给 UniSim + factory；未设置时省略该键，旧版 unisim-core 不会收到未知 kwargs，而是 + fail closed（#1636）。 + +- Added the `training.log_interval` key (default 1, no behavior change) and + batched TensorBoard scalar logging for rsl_rl PPO: each iteration's + `add_scalar` calls become a single event record gated by the interval, + removing the writer-queue stall on network filesystems + ([#1646](https://github.com/Motphys/UniLab/issues/1646), + [#1648](https://github.com/Motphys/UniLab/pull/1648)). + 新增 `training.log_interval` 配置键（默认 1，不改变行为）与 rsl_rl PPO 的 + TensorBoard 标量批量写入：每次迭代的 `add_scalar` 调用合并为单条 event + record 并按间隔落盘，消除网络文件系统上的写入队列阻塞（#1646、#1648）。 + +- Documented and tested the Motrix `cpu_ids` worker-affinity wiring, and + added a durable A/B microbenchmark for the fused body-state read (fused + packed read 5.7x, caller-owned-out copy 11.7x over the legacy cache-based + copy at 8192 envs x 14 tracked bodies; end-to-end Motrix runs show no + regression, so the single fused path is kept) + ([#962](https://github.com/Motphys/UniLab/issues/962), + [#1308](https://github.com/Motphys/UniLab/issues/1308), + [#1634](https://github.com/Motphys/UniLab/pull/1634), + [#1635](https://github.com/Motphys/UniLab/pull/1635)). + 记录并测试 Motrix `cpu_ids` worker 亲和性接线，并为 fused body-state + 读取新增持久化 A/B 微基准（8192 envs x 14 tracked bodies 下 fused + packed read 快 5.7 倍、caller-owned-out copy 快 11.7 倍；端到端 Motrix + 运行无回归，保留单一 fused 路径）（#962、#1308、#1634、#1635）。 + +### Changed / 变更 + +- Raised the base UniSim requirement to `unisim-core>=1.7.8` and mjbatch-uni + to `~=0.2.4`. Interactive rendering now consumes the unisim 1.7.5 + physics-state playback contract through + `unilab.visualization.playback_state`: snapshots split through the + physics-state layout contract instead of hardcoded + `mjSTATE_FULLPHYSICS` sizes, mocap geometry replays through + `get_playback_mocap_state`, and playback entrypoints precheck + `supports_physics_state_playback` and fail closed with a targeted message + ([#1637](https://github.com/Motphys/UniLab/pull/1637), + [#1639](https://github.com/Motphys/UniLab/pull/1639)). + 基础 UniSim 依赖提升到 `unisim-core>=1.7.8`，mjbatch-uni 提升到 + `~=0.2.4`。交互式渲染通过 `unilab.visualization.playback_state` 消费 + unisim 1.7.5 的 physics-state 回放契约：快照按 physics-state 布局契约 + 拆分，不再硬编码 `mjSTATE_FULLPHYSICS` 尺寸；mocap 几何通过 + `get_playback_mocap_state` 回放；回放入口预检 + `supports_physics_state_playback` 并以明确信息 fail closed + （#1637、#1639）。 + +- Bumped the optional `uni_rl` extra and dev environment from unilab-rl + 1.3.2 to 1.4.2: 1.4.0 delivers WarpSAC, off-policy metric consumers + migrated to the 1.4.1 canonical metric schema, and the off-policy + inference request timeout config was removed + ([#1640](https://github.com/Motphys/UniLab/pull/1640), + [#1643](https://github.com/Motphys/UniLab/pull/1643), + [#1645](https://github.com/Motphys/UniLab/pull/1645), + [#1655](https://github.com/Motphys/UniLab/pull/1655), + [#1658](https://github.com/Motphys/UniLab/pull/1658), + [#1659](https://github.com/Motphys/UniLab/pull/1659)). + 可选 `uni_rl` extra 与 dev 环境的 unilab-rl 从 1.3.2 升级到 1.4.2：1.4.0 + 提供 WarpSAC；off-policy 指标消费方迁移到 1.4.1 的规范指标 schema；移除 + off-policy 推理请求超时配置（#1640、#1643、#1645、#1655、#1658、#1659）。 + +- Bumped torch to 2.14 and unified the CUDA wheels on cu130 on Linux and + Windows; measured on Apple Silicon, FlashSAC end-to-end throughput + improves by 35% + ([#1647](https://github.com/Motphys/UniLab/pull/1647)). ONNX policy + export now defaults to opset 18, matching the onnxscript function + library torch 2.14's dynamo exporter emits + ([#1654](https://github.com/Motphys/UniLab/issues/1654), + [#1656](https://github.com/Motphys/UniLab/pull/1656)). + torch 升级到 2.14，Linux 与 Windows 的 CUDA wheel 统一到 cu130；Apple + Silicon 上实测 FlashSAC 端到端吞吐提升 35%（#1647）。ONNX 策略导出默认 + opset 调整为 18，与 torch 2.14 dynamo 导出器生成的 onnxscript 函数库 + 匹配（#1654、#1656）。 + +- Enabled full-objective compile for FlashSAC + ([#1641](https://github.com/Motphys/UniLab/pull/1641)), and pinned uv to + 0.12.5 across the project, CI, and Docker + ([#1657](https://github.com/Motphys/UniLab/pull/1657)). + FlashSAC 启用 full-objective compile（#1641）；uv 在工程、CI 与 Docker + 中统一固定到 0.12.5（#1657）。 + +### Fixed / 修复 + +- The motion CSV loader preserves headerless frames + ([#1653](https://github.com/Motphys/UniLab/pull/1653)). + 动作 CSV 加载器保留无表头的帧（#1653）。 + +- macOS MuJoCo interactive eval now runs through mjpython (Cocoa main + thread), and playback exits directly afterward to avoid the + free-threaded CPython 3.13 interpreter-finalization deadlock + ([#1629](https://github.com/Motphys/UniLab/issues/1629), + [#1630](https://github.com/Motphys/UniLab/pull/1630)). + macOS 上 MuJoCo 交互式 eval 改经 mjpython 运行（Cocoa 主线程），回放 + 结束后直接退出，避免 free-threaded CPython 3.13 解释器收尾死锁 + （#1629、#1630）。 + +- The viser viewer batches scene updates and shuts down cleanly on Ctrl-C + ([#1633](https://github.com/Motphys/UniLab/pull/1633)). + viser 查看器批量提交场景更新，并在 Ctrl-C 时干净退出（#1633）。 + +- Play artifact failures are decoupled: ONNX export and video rendering run + under a shared nonfatal guard across the off-policy, APPO, and rsl-rl + play paths, so one artifact failure no longer blocks the other + ([#1654](https://github.com/Motphys/UniLab/issues/1654), + [#1656](https://github.com/Motphys/UniLab/pull/1656)). + 回放产物失败解耦：ONNX 导出与视频渲染在 off-policy、APPO 与 rsl-rl + 回放路径上统一走非致命保护，单个产物失败不再阻塞另一个 + （#1654、#1656）。 + +- Restored the ROCm runtime dependencies and covered SAC cold-start + inference compilation + ([#1650](https://github.com/Motphys/UniLab/pull/1650)); the CI test job + no longer rolls git-tracked robot scene XMLs back to the cached snapshot + revision after restoring the asset cache + ([#1639](https://github.com/Motphys/UniLab/pull/1639)). + 恢复 ROCm 运行时依赖，并覆盖 SAC 冷启动推理编译（#1650）；CI 测试任务 + 恢复资产缓存后不再将 git 跟踪的机器人场景 XML 回滚到缓存快照版本 + （#1639）。 + ## 1.3.2 (2026-09-22) ### Breaking changes / 破坏性变更 diff --git a/pyproject.rocm.toml b/pyproject.rocm.toml index 1bfebdadb..bc96048b2 100644 --- a/pyproject.rocm.toml +++ b/pyproject.rocm.toml @@ -4,7 +4,7 @@ build-backend = "uv_build" [project] name = "unilab" -version = "1.3.2" +version = "1.3.3" description = "Universal Lab for Robot Learning" readme = "README.md" license = "Apache-2.0" diff --git a/pyproject.toml b/pyproject.toml index ca28d49f8..d6b76a0c5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -16,7 +16,7 @@ source-exclude = [ [project] name = "unilab" -version = "1.3.2" +version = "1.3.3" description = "Configurable, contract-driven robot learning across physics backends" readme = "README.md" license = "Apache-2.0" diff --git a/uv.lock b/uv.lock index 8fddda3e5..cc9c0bcd1 100644 --- a/uv.lock +++ b/uv.lock @@ -5151,7 +5151,7 @@ wheels = [ [[package]] name = "unilab" -version = "1.3.2" +version = "1.3.3" source = { editable = "." } dependencies = [ { name = "etils", version = "1.13.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, diff --git a/uv.rocm.lock b/uv.rocm.lock index 676235e04..8f2943753 100644 --- a/uv.rocm.lock +++ b/uv.rocm.lock @@ -3418,7 +3418,7 @@ wheels = [ [[package]] name = "unilab" -version = "1.3.2" +version = "1.3.3" source = { editable = "." } dependencies = [ { name = "etils", version = "1.13.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },