Language

unilab.tasks.motion_tracking.common.tensor_runtime¶

Reusable tensor-runtime pieces for motion-tracking task owners.

These helpers deliberately do not construct environments or discover backend capabilities. A task owner remains responsible for validating its semantic contract and negotiating UniSim’s public tensor lifecycle before using them.

Functions

`semantic_fingerprint`(domain, value)	Return a stable SHA-256 fingerprint for a task-owner semantic token.
`semantic_token`(value)	Normalize an owner configuration value without unknown escapes.

Classes

`EpisodeMetrics`	Device-resident current episode accumulators.
`ObservationNoise`	Uniform additive observation noise with owner-declared bounds.
`ResetMasks`	Device-side fixed-width done union.

class unilab.tasks.motion_tracking.common.tensor_runtime.EpisodeMetrics[source]¶

Bases: object

Device-resident current episode accumulators.

snapshot and finished_values return tensors; callers decide when a logging or IPC boundary is allowed to copy them to host.

Parameters:

rewards (Tensor)
lengths (Tensor)

rewards: Tensor¶

lengths: Tensor¶

classmethod create(num_envs, device)[source]¶

Parameters:

num_envs (int)
device (device)

Return type:

EpisodeMetrics

update(reward, done)[source]¶

Parameters:

reward (Tensor)
done (Tensor)

Return type:

finished_values(done_mask)[source]¶

Parameters:: done_mask (Tensor)
Return type:: Tensor

reset(done_mask)[source]¶

Parameters:: done_mask (Tensor)
Return type:: None

snapshot()[source]¶

Return type:: dict[str, Tensor]

__init__(rewards, lengths)¶

Parameters:

rewards (Tensor)
lengths (Tensor)

class unilab.tasks.motion_tracking.common.tensor_runtime.ObservationNoise[source]¶

Bases: object

Uniform additive observation noise with owner-declared bounds.

Parameters:

lower (Tensor)
upper (Tensor)

lower: Tensor¶

upper: Tensor¶

classmethod from_uniform_terms(terms, widths, device)[source]¶

Parameters:

terms (tuple[UniformNoiseCfg, ...])
widths (tuple[int, ...])
device (device)

Return type:

ObservationNoise

apply(observations, *, cursor, generator)[source]¶

Parameters:

observations (Tensor)
cursor (int)
generator (Generator)

Return type:

__init__(lower, upper)¶

Parameters:

lower (Tensor)
upper (Tensor)

class unilab.tasks.motion_tracking.common.tensor_runtime.ResetMasks[source]¶

Bases: object

Device-side fixed-width done union.

Parameters:

terminated (Tensor)
truncated (Tensor)

terminated: Tensor¶

truncated: Tensor¶

property done: Tensor¶

__init__(terminated, truncated)¶

Parameters:

terminated (Tensor)
truncated (Tensor)

unilab.tasks.motion_tracking.common.tensor_runtime.semantic_fingerprint(domain, value)[source]¶

Return a stable SHA-256 fingerprint for a task-owner semantic token.

Parameters:

domain (str)
value (Any)

Return type:

unilab.tasks.motion_tracking.common.tensor_runtime.semantic_token(value)[source]¶

Normalize an owner configuration value without unknown escapes.

Parameters:: value (Any)
Return type:: Any