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Real-time behaviour synthesis with MuJoCo, using Predictive Control
...The system supports multi-shooting optimization, enabling precise motion planning across diverse domains like quadruped locomotion, humanoid tracking, and dexterous manipulation. In addition to its C++ core, MJPC includes an experimental PythonAPI, enabling integration with custom models and MuJoCo tasks for flexible scripting and experimentation.
FlashMLA is a high-performance decoding kernel library designed especially for Multi-Head Latent Attention (MLA) workloads, targeting NVIDIA Hopper GPU architectures. It provides optimized kernels for MLA decoding, including support for variable-length sequences, helping reduce latency and increase throughput in model inference systems using that attention style. The library supports both BF16 and FP16 data types, and includes a paged KV cache implementation with a block size of 64 to...