feat: Phase 5 MuJoCo Playground PPO benchmarks (54 envs)#534

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kengz wants to merge 250 commits intomasterfrom

feat/mjwarp-phase5-benchmarks

Commits on Mar 6, 2026

feat: add MuJoCo Playground env backend with GPU acceleration

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feat: add playground dstack config and --playground flag for remote runs

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docs: add Phase 5 Playground benchmark table to BENCHMARKS.md

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fix: skip random baseline generation for playground/ envs

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feat: add live rendering for MuJoCo Playground environments

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feat: GPU-native replay buffer and torch obs normalization

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feat: Phase 5 playground spec refactor and dstack unification

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fix: dstack env var format XLA_PYTHON_CLIENT_PREALLOCATE=false (not dict syntax)

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fix: remove device:cuda from ppo_playground_arc (OnPolicyBatchReplay needs CPU obs)

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fix: to_torch_batch handles list-of-tensors (GPU-native on-policy rollouts)

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feat: auto-resolve playground env device (like net gpu:auto) + logging

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fix: move state to net device in calc_pdparam (GPU-env CPU tensor fix)

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feat: Phase 5 PendulumSwingup PPO benchmark (35.74)

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feat: Phase 5 CartpoleBalance PPO benchmark (709.15)

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feat: Phase 5 CheetahRun SAC benchmark (112.59)

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feat: Phase 5 FingerSpin SAC benchmark (251.38)

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feat: Phase 5 CartpoleSwingup SAC benchmark (193.71)

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feat: Phase 5 PointMass PPO benchmark (493.79) + ReacherEasy PPO (285.63)
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feat: Phase 5 AcrobotSwingup SAC benchmark (3.46)

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feat: Phase 5 AcrobotSwingup SAC baseline (3.46) + new playground specs + SKILL.md plot mandate
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feat: Phase 5 WalkerWalk SAC (883.86) + WalkerStand SAC (934.20)

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feat: Phase 5 CheetahRun PPO baseline (53.61)

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feat: Phase 5 WalkerWalk PPO baseline (73.21)

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feat: add sac_playground_arc_utd1 spec (UTD=1.0, 4 envs) for hard DM Control envs

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feat: add sac_playground_arc_datarich spec for high-fps playground SAC

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fix: JAX CUDA install in dstack + DLPack safety + data-rich SAC spec

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feat: Phase 5 CartpoleSwingup SAC baseline (371.40)

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feat: Phase 5 HopperStand SAC baseline (277.46)

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fix: UTD=1.0 spec — use max_frame=1M (6h dstack wall at ~60fps)

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feat: Phase 5 CartpoleBalance PPO baseline (918.12)

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feat: Phase 5 FingerSpin SAC baseline (327.57)

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feat: Phase 5 FingerTurnEasy SAC baseline (408.73)

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docs: add FPS, Frames, Wall Clock, D4PG Target, Hardware to Phase 5 tables

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feat: Phase 5 FishSwim SAC baseline (98.57)

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Commits on Mar 7, 2026

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Commits on Mar 19, 2026

docs: audit Phase 5 benchmarks — update HF links and regenerate plots

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Commits on Mar 20, 2026