Support Matrix

This matrix is generated conceptually from registry entries, owner YAMLs, and tests. The generator implementation is src/unilab/utils/support_matrix.py; the write target for the generated block is currently the Chinese reference page docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md.

Backend Selection Rules

  • The default backend is mujoco.

  • Switch to Motrix with --sim motrix on the unified CLI.

  • --algo, --task, and --sim jointly select the owner YAML.

  • Do not treat training.sim_backend as a standalone backend switch.

Playback Differences

  • mujoco: --render-mode auto exports play_video.mp4.

  • motrix: --render-mode auto opens an interactive renderer window; it does not record a video and is not bound by play_steps.

  • --render-mode record: both backends record a video only.

  • --render-mode none: no playback.

Evidence Grades

Grade

Repository Evidence

Registered

The env/backend pair appears after registry.ensure_registries().

Configured

A matching owner YAML exists under conf/ppo/task, conf/appo/task, or conf/offpolicy/task.

Tested

Automated tests cover the entrypoint/task-owner/backend combination through config compose or runtime smoke.

Benchmarked

A checked-in benchmark manifest exists for the combination.

Recommended

Explicit recommendation metadata exists in the repo.

The current generator reports no checked-in benchmark manifest and no separate recommendation metadata, so rows do not auto-promote to Benchmarked or Recommended.

Entrypoint x Task Owner

Entrypoint

Task owner

MuJoCo

Motrix

PPO (torch)

go1_joystick_flat

Tested

Tested

PPO (torch)

go2_joystick_flat

Tested

Tested

PPO (torch)

go2_joystick_rough

Tested

Tested

PPO (torch)

g1_walk_flat

Tested

Tested

PPO (torch)

g1_motion_tracking

Tested

Tested

PPO (torch)

g1_flip_tracking

Tested

Tested

PPO (torch)

g1_wall_flip_tracking

Tested

Tested

PPO (torch)

allegro_inhand

Tested

Tested

PPO (torch)

sharpa_inhand

Tested

Tested

PPO (torch)

sharpa_inhand_grasp

Tested

Tested

PPO (torch)

allegro_inhand_grasp

Tested

Tested

PPO (torch)

g1_box_tracking

Tested

Tested

PPO (torch)

g1_climb_tracking

Tested

Tested

PPO (torch)

g1_motion_tracking_deploy

Tested

Tested

PPO (torch)

go1_joystick_rough

Tested

Tested

PPO (torch)

go2_arm_manip_loco

Tested

-

PPO (torch)

go2_footstand

Tested

-

PPO (torch)

go2_handstand

Tested

Tested

PPO (torch)

go2w_joystick_flat

Tested

Tested

PPO (torch)

go2w_joystick_rough

Tested

Tested

PPO (mlx)

go1_joystick_flat

Tested

Tested

PPO (mlx)

go2_joystick_flat

Tested

Tested

PPO (mlx)

go2_joystick_rough

Configured

Configured

PPO (mlx)

g1_walk_flat

Tested

Tested

PPO (mlx)

g1_motion_tracking

Configured

Configured

PPO (mlx)

g1_flip_tracking

Configured

Configured

PPO (mlx)

g1_wall_flip_tracking

Configured

Configured

PPO (mlx)

allegro_inhand

Configured

Configured

PPO (mlx)

sharpa_inhand

Configured

Configured

PPO (mlx)

sharpa_inhand_grasp

Configured

Configured

PPO (mlx)

allegro_inhand_grasp

Configured

Configured

PPO (mlx)

g1_box_tracking

Configured

Configured

PPO (mlx)

g1_climb_tracking

Configured

Configured

PPO (mlx)

g1_motion_tracking_deploy

Configured

Configured

PPO (mlx)

go1_joystick_rough

Configured

Configured

PPO (mlx)

go2_arm_manip_loco

Configured

-

PPO (mlx)

go2_footstand

Configured

-

PPO (mlx)

go2_handstand

Configured

Configured

PPO (mlx)

go2w_joystick_flat

Configured

Configured

PPO (mlx)

go2w_joystick_rough

Configured

Configured

APPO (torch)

go1_joystick_flat

Tested

Registered

APPO (torch)

go2_joystick_flat

Tested

Registered

APPO (torch)

g1_walk_flat

Tested

Registered

APPO (torch)

g1_motion_tracking

Tested

Tested

APPO (torch)

g1_flip_tracking

Tested

Tested

APPO (torch)

g1_wall_flip_tracking

Tested

Tested

APPO (torch)

allegro_inhand

Tested

Tested

APPO (torch)

sharpa_inhand

Tested

Registered

APPO (torch)

g1_climb_tracking

Tested

Tested

SAC (torch)

g1_walk_flat

Tested

Tested

SAC (torch)

g1_walk_rough

Tested

Tested

SAC (torch)

g1_motion_tracking

Tested

Tested

SAC (torch)

g1_wbt_obs

Tested

Registered

TD3 (torch)

go1_joystick_flat

Registered

Tested

TD3 (torch)

go2_joystick_flat

Registered

Tested

TD3 (torch)

g1_walk_flat

Tested

Registered

FlashSAC (torch)

go2_joystick_flat

Tested

Registered

FlashSAC (torch)

g1_walk_flat

Tested

Registered

Source Index

  • Registry bootstrap: src/unilab/envs/** registrations via unilab.base.registry.ensure_registries().

  • Owner YAML scan: conf/ppo/task/**, conf/appo/task/**, conf/offpolicy/task/**.

  • Generic compose coverage: tests/config/test_config_system.py::test_supported_task_composes.

  • MLX-specific compose coverage: tests/config/test_config_system.py::_PPO_MLX_TASKS.

  • MLX runtime smoke: tests/algos/test_mlx_ppo.py::test_mlx_ppo_one_iteration_real_env.