[Feature] Support Batch Textures #2077
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* Fix URDF color overwrite. * Fix zero-copy being disabled for numpy. * Add warning when enabling requires_grad while using GsTaichi dynamic arrays. * More robust unit tests.
…-Embodied-AI#2068) * Fix differentiable simulation support for ndarray. * Fix shape issue with zero-copy for matrix field of shape Nx1.
* Migrate to gstaichi 4.3.1. * Enable zero-copy for ti.field except on Metal. * Re-enable fastcache on CI. * Get around memory initialization issue with field. * Fix shape issue with zero-copy for matrix field of shape Nx1. * Forcibly disable debug more when gradient is required. * Add marker to set debug mode on each specific unit test. * Fix missing copy. * Fix collider state not reset at init. * Fix unit test not supported on ARM runner. --------- Co-authored-by: Alexis Duburcq <alexis.duburcq@gmail.com>
Genesis-Embodied-AI#2074) * Fix increased memory usage due to differentiable simulation. * Cleanup differentiable rigid sim.
…is-Embodied-AI#2075) * More efficient GO2 env implementation. * Speed up torch-based geom utils via 'torch.jit.script'.
Collaborator
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Awesome 😘 You are amazing! |
YilingQiao
previously approved these changes
Dec 16, 2025
Collaborator
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@ACMLCZH could you please address the CI Error? |
Collaborator
Author
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Added some fix, we can run the workflow again. |
YilingQiao
previously approved these changes
Dec 30, 2025
…into madrona_var
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🔴 Benchmark Regression Detected ➡️ Report |
duburcqa
approved these changes
Jan 1, 2026
duburcqa
reviewed
Jan 1, 2026
Collaborator
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@ACMLCZH Please do not click on merge yourself next time. |
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gs-madrona. Usinggs.morphs.BatchTexturesin Genesis side to add batch textures fordiffuse_texture. It will render different image textures for different envs. Used for domain randomization.BatchTexturehasnimages, it thei-th env, it will show thei % n-th image.examples/rigid/single_franka_batch_render.pyfor example usage.