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[MISC] Remove all legacy auto-diff static for-loops.#2742

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duburcqa wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
duburcqa:cleanup_autodiff
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[MISC] Remove all legacy auto-diff static for-loops.#2742
duburcqa wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
duburcqa:cleanup_autodiff

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@duburcqa duburcqa commented Apr 26, 2026

Resolves #2537

@duburcqa duburcqa force-pushed the cleanup_autodiff branch 3 times, most recently from 8fbad8d to 82090e4 Compare April 29, 2026 06:46
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🔴 Benchmark Regression Detected ➡️ Report

@duburcqa duburcqa force-pushed the cleanup_autodiff branch 4 times, most recently from 2530677 to 298a71a Compare May 2, 2026 19:49
@duburcqa duburcqa marked this pull request as ready for review May 2, 2026 19:49
@duburcqa duburcqa requested a review from YilingQiao as a code owner May 2, 2026 19:49
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@duburcqa duburcqa changed the title [WIP] Cleanup autodiff. [MISC] Remove all legacy auto-diff static for-loops. May 2, 2026
@duburcqa duburcqa force-pushed the cleanup_autodiff branch from 298a71a to 1b4194a Compare May 2, 2026 19:52
@duburcqa duburcqa force-pushed the cleanup_autodiff branch from 1b4194a to 4696cc8 Compare May 4, 2026 05:45
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[Bug]: loss.backward() hangs indefinitely for articulated robots with freejoint + child joints

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