Changelog / 变更日志

UniLab follows Semantic Versioning. This shared page records notable releases in English and Chinese; for the day-to-day commit log, see the UniLab repository.

UniLab 遵循语义化版本。本共享页面以中英文记录重要版本变更； 日常提交记录请参阅 UniLab 仓库。

Unreleased / 未发布

1.2.0 (2026-09-10)

  • Update the required unisim-core release to >=1.2.0 and the pinned unilab-rl release to ==1.2.0, including the ROCm profile. 将必需的 unisim-core 版本更新为 >=1.2.0，并将钉定的 unilab-rl 版本更新为 ==1.2.0，ROCm 配置档同步更新。

  • Host the FR3 SuperDex native bot assets (collision SDF, render GLB, license) on the Hugging Face dataset unilabsim/unilab-robots, consistent with the other robot mesh assets. The asset hub downloads the bots/arms/fr3_v2 snapshot into src/unilab/assets/ on first use, and uv run unilab-pull-assets --robot fr3_v2 pre-fetches it; SUPERDEX_ASSETS_PATH / env.superdex_assets_root remain as overrides for auditing a local project_superdex checkout and take precedence without downloading. FR3 SuperDex 原生 bot 资产（collision SDF、render GLB、许可证）改为托管在 Hugging Face 数据集 unilabsim/unilab-robots， 与其他机器人 mesh 资产的处理方式一致。asset hub 首次使用时自动把 bots/arms/fr3_v2 快照下载到 src/unilab/assets/，也可用 uv run unilab-pull-assets --robot fr3_v2 预拉取； SUPERDEX_ASSETS_PATH / env.superdex_assets_root 保留为审计本地 project_superdex checkout 的覆盖方式，优先级更高且不会触发下载。

  • Add a superdex optional extra (uv sync --extra superdex or pip install "unilab[superdex]") that pulls the published SuperDex Physics/Robotics 1.0.0 wheels (CPython 3.12/3.13, Linux x86_64) through unisim-core[superdex], replacing the temporary source-build setup. The sim=mujoco runtime check now guards on the mujoco_uni binding, since plain mujoco also arrives with the superdex extra. SuperDex native interactive playback crashing on the first rendered frame (eval --sim superdex --render-mode interactive) was first fixed in unisim-core 1.1.6; the required release line is now >=1.2.0. 新增 superdex optional extra（uv sync --extra superdex 或 pip install "unilab[superdex]"），通过 unisim-core[superdex] 安装已发布的 SuperDex Physics/Robotics 1.0.0 wheel（CPython 3.12/3.13、 Linux x86_64），取代临时的源码编译安装方式。sim=mujoco 的运行时检查 改为检查 mujoco_uni 绑定，因为普通 mujoco 包也会随 superdex extra 装入。SuperDex 原生 interactive 回放首帧渲染崩溃的问题 （eval --sim superdex --render-mode interactive）最早在 unisim-core 1.1.6 修复；当前必需的版本线为 >=1.2.0。

  • Go2 arm manipulation/locomotion, its legacy helpers, assets, tools and HIM-PPO owners moved to legged-manipulation_unilab under #1528. Dedicated source content and compatibility imports are removed; shared backend contracts remain. Go2 机械臂任务及专属辅助模块、资产、工具和 HIM-PPO 配置迁入独立仓库，原入口移除。 Per maintainer instruction, this migration does not change repository versions or publish a release; consumers use the coordinated migration commits. 按维护者要求，本次不修改仓库版本号、不发布新版本，消费方固定配套迁移提交。

  • The FR3 SuperDex owner defaults play to the native interactive viewer (play_render_mode=interactive, play_env_num=1). Record (video) playback stays unavailable for the .superdex_bot asset, which carries no MJCF visual model; use training.play_render_mode=none for headless runs. FR3 SuperDex owner 的 play 默认改为 native interactive viewer （play_render_mode=interactive，play_env_num=1）。.superdex_bot 资产没有 MJCF visual model，record（视频）回放仍不可用；无显示环境使用 training.play_render_mode=none。

1.1.0 (2026-09-06)

  • Update the required unisim-core release to >=1.1.3, including the ROCm profile, so UniLab consumes the current shared physics-backend contract. 将必需的 unisim-core 版本更新为 >=1.1.3，并同步更新 ROCm 配置档，使 UniLab 使用当前共享的物理后端 contract。

  • Add the Newton backend owner path and native ViewerGL playback integration, with explicit device routing for spawned collectors. 增加 Newton backend owner 路径和原生 ViewerGL 回放集成，并为 spawn collector 增加显式设备路由。

  • Align the MuJoCo extras on the 3.11 line and document the version-switch fallback path for the native runtime extension. 将 MuJoCo extras 统一到 3.11 版本线，并补充原生 runtime 扩展切换版本时的回退路径 文档。

  • Add third-party task-package discovery through the unilab.tasks entry-point group and generic interval domain-randomization dispatch. 增加通过 unilab.tasks entry-point group 发现第三方 task package 的能力，并增加通用 interval domain-randomization dispatch。

  • Expand the bilingual documentation around backend support evidence, platform setup, sim-to-sim contracts, and the Why UniLab project rationale. 扩展双语文档，覆盖 backend 支持证据、平台安装、sim-to-sim contract 和 Why UniLab 项目定位。

1.0.0

  • pyproject.toml declares package version 1.0.0. The Manager-Based API migration (roadmap #1042) is merged: manager core and NumPy term library ported from mjlab 1.6.0, all production tasks on the Manager-Based runtime, and legacy monolithic envs removed. pyproject.toml 声明 package 版本 1.0.0。Manager-Based API 迁移（roadmap #1042） 完成：manager core 和 NumPy term library 从 mjlab 1.6.0 移植，所有 production task 运行在 Manager-Based runtime 上，并移除旧的 monolithic env。

  • Physics backends live in the separate unisim-core package (MuJoCo, Motrix, mjwarp, IsaacGym, IsaacSim, Genesis, Drake); RL algorithms and the async runtime live in the separate unilab-rl package (uni_rl). 物理后端位于独立的 unisim-core package（MuJoCo、Motrix、mjwarp、IsaacGym、IsaacSim、 Genesis、Drake）；RL 算法和异步 runtime 位于独立的 unilab-rl package（uni_rl）。

  • Robot meshes/textures are hosted on the Hugging Face dataset unilabsim/unilab-robots and pulled on demand. The bilingual Sphinx source layout is documented in docs/sphinx/README.md. 机器人 mesh/texture 托管在 Hugging Face 数据集 unilabsim/unilab-robots，按需拉取。 双语 Sphinx 源码布局见 docs/sphinx/README.md。

  • ADR, glossary, and changelog pages are shared content rather than per-language pages. ADR、术语表和 changelog 页面采用共享内容，而不是分别维护语言版本。

0.1.0

  • pyproject.toml declares package version 0.1.0 and the first-level console entrypoints train, eval, demo, unilab-complete, unilab-viz-nan, and unilab-export-scene. pyproject.toml 声明 package 版本 0.1.0，并提供首批顶层 console entrypoint： train、eval、demo、unilab-complete、unilab-viz-nan 和 unilab-export-scene。

  • The repository README documents the CPU simulation, shared-memory runtime, and GPU learning architecture, with MuJoCo and Motrix named as physics backends. 仓库 README 介绍 CPU 仿真、共享内存 runtime 和 GPU learning 架构，并将 MuJoCo 与 Motrix 列为物理后端。

  • Accepted ADRs in docs/sphinx/source/adr/README.md cover runtime layer boundaries, backend capability boundaries, task owner config composition, registry bootstrap, and observation / IPC contracts. docs/sphinx/source/adr/README.md 中的已接受 ADR 覆盖 runtime 分层边界、backend capability 边界、task owner 配置组合、registry bootstrap 以及 observation/IPC contract。