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NCCL 默认禁用 P2P/SHM 走 TCP loopback：NVLink 主机上梯度同步带宽受损，需条件化或文档化

Status: Open.

#1507 In Motphys/UniLab;

· TATP-233 opened on Sep 5, 2026

NUMA 主机上 collector CPU 默认切片不感知拓扑：需按 GPU NUMA 亲和性自动推导

Status: Open.

#1506 In Motphys/UniLab;

· TATP-233 opened on Sep 5, 2026

多 GPU data-parallel 缺 NUMA/PCIe 拓扑感知：rank→GPU 映射不查 NUMA 亲和性

Status: Open.

#1505 In Motphys/UniLab;

· TATP-233 opened on Sep 5, 2026

标准化 play variant：play_profile 扩展到 DR/noise/push/curriculum 剥离并覆盖全部 play 入口（roadmap #1252 第 3 点遗留）

Status: Open.

#1499 In Motphys/UniLab;

· TATP-233 opened on Sep 4, 2026

DR 声明式模型字段声明层：requires_model_fields 风格的 per-term 声明与需求驱动展开（roadmap #1252 第 2 点遗留）

Status: Open.

#1498 In Motphys/UniLab;

· TATP-233 opened on Sep 4, 2026

roadmap: eval 模式化——缺后端 owner 配置时的跨后端 sim2sim 回放

Status: Open.

#1472 In Motphys/UniLab;

· TATP-233 opened on Sep 3, 2026

drake 后端 contact force 传感器输出世界系净力，与 contact-frame 契约不一致

Status: Open.

#1471 In Motphys/UniLab;

· TATP-233 opened on Sep 3, 2026

refactor(motrix): 接入 fused body-state 接口并删除临时 kernel

area:motrixMotrixSim related workMotrixSim related work

enhancementNew feature or requestNew feature or request

Status: Open.

#1308 In Motphys/UniLab;

· TATP-233 opened on Aug 25, 2026

feat(motrix): 提供 selected-body fused world-state 读取接口

area:motrixMotrixSim related workMotrixSim related work

enhancementNew feature or requestNew feature or request

Status: Open.

#1305 In Motphys/UniLab;

· TATP-233 opened on Aug 25, 2026

Task：评估公共模型复用与 model-affine 调度，解决 SimToolReal 600-tool 吞吐瓶颈

Status: Open.

#1058 In Motphys/UniLab;

· lemon-star608 opened on Aug 17, 2026

feat(motrix): 为 motrixsim 后端增加显式 CPU affinity

area:motrixMotrixSim related workMotrixSim related work

enhancementNew feature or requestNew feature or request

Status: Open.

#962 In Motphys/UniLab;

· TATP-233 opened on Aug 13, 2026

docs: 文档以契约规范为导向，用户遇到实际问题仍需读源码——建立用户参考手册层

Status: Open.

#706 In Motphys/UniLab;

· TATP-233 opened on Jul 28, 2026