feat: add development toolchain (Makefile) and upgrade dependencies

CLAUDE.md

@@ -17,27 +17,43 @@ pytest
 ## Installation
 
 ```bash
+# macOS (MPS)
 uv sync --extra dev
+
+# Linux (CUDA 12.4)
+uv sync --extra dev --extra cu124
 ```
 
 ## Development Workflow
 
-### 1. 代码开发
+### Quick Commands (Makefile)
+
 ```bash
-uv run python scripts/train_rsl_rl.py --task Go1JoystickFlatTerrain
+make format     # Format and lint code
+make type       # Type check with mypy
+make check      # make format && make type
+make test       # Run all tests
+make test-fast  # Run tests excluding slow ones
+make test-all   # make check && make test
 ```
 
-### 2. 提交前检查
+### Manual Commands
+
 ```bash
-# 格式化
+# Format
 uv run ruff format .
+uv run ruff check --fix
 
-# 检查
-uv run ruff check .
+# Type check
+uv run mypy unilab
+
+# Test
+uv run pytest
 ```
 
-### 3. Git 提交
-使用 Conventional Commits：
+## Git Commits
+
+Use Conventional Commits:
 - `feat:` 新功能
 - `fix:` 修复 bug
 - `docs:` 文档
@@ -46,6 +62,10 @@ uv run ruff check .
 - `test:` 测试
 - `chore:` 构建/工具
 
-### 4. 自动化
-- **Pre-commit hooks**（可选）：`pre-commit install`
-- **GitHub CI**：push 到 main 或 PR 时自动运行 lint + test
+## Pre-commit
+
+```bash
+pre-commit install  # Optional
+```
+
+**Always run `make check` before committing.**

Makefile

@@ -0,0 +1,26 @@
+.PHONY: sync
+sync:
+	uv sync --extra dev
+
+.PHONY: format
+format:
+	uv run ruff format
+	uv run ruff check --fix
+
+.PHONY: type
+type:
+	uv run mypy unilab
+
+.PHONY: check
+check: format type
+
+.PHONY: test
+test:
+	uv run pytest
+
+.PHONY: test-fast
+test-fast:
+	uv run pytest -m "not slow"
+
+.PHONY: test-all
+test-all: check test

README.md

@@ -40,8 +40,12 @@ brew install cmake  # macOS
 # sudo apt-get install cmake  # Ubuntu/Debian
 
 # 4. 同步依赖
+# macOS (MPS)
 uv sync
 
+# Linux (CUDA 12.4)
+uv sync --extra cu124
+
 # 5. 可选：Motrix 后端
 uv sync --extra motrix
 ```

benchmark/benchmark_ane_inference.py

@@ -12,33 +12,30 @@
 
 try:
     from benchmark.core import (
-        bench_callable,
         MLPBenchRecord,
+        bench_callable,
         mlp_param_count,
-        trimmed_mean,
         print_mlp_table,
+        trimmed_mean,
     )
     from benchmark.core.device_info import get_device_info_dict, get_device_info_line
 except ModuleNotFoundError:
-    from core import bench_callable, MLPBenchRecord, mlp_param_count, trimmed_mean, print_mlp_table
+    from core import MLPBenchRecord, bench_callable, mlp_param_count, print_mlp_table, trimmed_mean
     from core.device_info import get_device_info_dict, get_device_info_line
 
 
 import argparse
 import json
-import os
-import warnings
 import shutil
 import tempfile
-from dataclasses import asdict, dataclass
+from dataclasses import asdict
 from datetime import datetime, timezone
 from pathlib import Path
-from typing import Callable, Dict, List, Optional, Tuple
-
+from typing import Dict, List, Optional
 
+import coremltools as ct
 import numpy as np
 import torch
-import coremltools as ct
 
 try:
     import matplotlib

benchmark/benchmark_ane_peak.py

@@ -24,7 +24,7 @@
 from dataclasses import asdict, dataclass
 from datetime import datetime, timezone
 from pathlib import Path
-from typing import List, Optional
+from typing import List
 
 import numpy as np
 

benchmark/benchmark_backends.py

@@ -8,28 +8,28 @@
 
 try:
     from benchmark.core import (
+        available_backends,
         bench_callable,
-        parse_sizes,
-        parse_dtypes,
+        mlx_dtype,
         normalize_dtypes,
-        available_backends,
         numpy_dtype,
-        torch_dtype,
-        mlx_dtype,
+        parse_dtypes,
+        parse_sizes,
         print_table,
+        torch_dtype,
     )
     from benchmark.core.device_info import get_device_info_dict
 except ModuleNotFoundError:
     from core import (
+        available_backends,
         bench_callable,
-        parse_sizes,
-        parse_dtypes,
+        mlx_dtype,
         normalize_dtypes,
-        available_backends,
         numpy_dtype,
-        torch_dtype,
-        mlx_dtype,
+        parse_dtypes,
+        parse_sizes,
         print_table,
+        torch_dtype,
     )
     from core.device_info import get_device_info_dict
 
@@ -143,7 +143,8 @@ def run_torch_mps(size, warmup, repeat, dtype_name):
     dt = torch_dtype(dtype_name)
     a = torch.randn(size, size, dtype=dt, device="mps")
     b = torch.randn(size, size, dtype=dt, device="mps")
-    sync = lambda: torch.mps.synchronize()
+    def sync():
+        return torch.mps.synchronize()
 
     mm_t = bench_callable(lambda: a @ b, sync, warmup, repeat)
     ew_t = bench_callable(

benchmark/benchmark_conversions.py

@@ -14,36 +14,35 @@
 import math
 import platform
 import statistics
-import time
 from dataclasses import asdict, dataclass
 from datetime import datetime, timezone
 from pathlib import Path
-from typing import Any, Callable, Dict, List, Tuple
+from typing import Any, Dict, List, Tuple
 
 try:
     from benchmark.core import (
+        available_backends,
         bench_callable,
-        parse_sizes,
-        parse_dtypes,
+        mlx_dtype,
         normalize_dtypes,
-        available_backends,
         numpy_dtype,
-        torch_dtype,
-        mlx_dtype,
+        parse_dtypes,
+        parse_sizes,
         print_table,
+        torch_dtype,
     )
     from benchmark.core.device_info import get_device_info_dict, get_device_info_line
 except ModuleNotFoundError:
     from core import (
+        available_backends,
         bench_callable,
-        parse_sizes,
-        parse_dtypes,
+        mlx_dtype,
         normalize_dtypes,
-        available_backends,
         numpy_dtype,
-        torch_dtype,
-        mlx_dtype,
+        parse_dtypes,
+        parse_sizes,
         print_table,
+        torch_dtype,
     )
     from core.device_info import get_device_info_dict, get_device_info_line
 

benchmark/benchmark_forward_reset_methods.py

@@ -4,13 +4,12 @@
 import argparse
 import sys
 from dataclasses import asdict, dataclass
-from pathlib import Path
-from typing import List, Tuple
 from multiprocessing import cpu_count
+from pathlib import Path
 
 import mujoco
-from mujoco import batch_forward
 import numpy as np
+from mujoco import batch_forward
 
 try:
     from benchmark.core.device_info import get_device_info_dict, get_device_info_line

benchmark/benchmark_gpu_buffer.py

@@ -5,11 +5,12 @@
 Usage: python scripts/benchmark_gpu_buffer.py
 """
 
+import sys
+import time
+
+import numpy as np
 import torch
 import torch.nn as nn
-import numpy as np
-import time
-import sys
 
 
 def sync_device(device):
@@ -72,7 +73,7 @@ def benchmark_host_buffer(capacity, obs_dim, action_dim, batch_size, num_updates
         indices = np.random.randint(0, capacity, size=batch_size)
         obs = torch.from_numpy(obs_buf[indices].copy()).to(device, non_blocking=True)
         actions = torch.from_numpy(actions_buf[indices].copy()).to(device, non_blocking=True)
-        next_obs = torch.from_numpy(next_obs_buf[indices].copy()).to(device, non_blocking=True)
+        torch.from_numpy(next_obs_buf[indices].copy()).to(device, non_blocking=True)
         sync_device(device)
 
         # Training step
@@ -111,7 +112,7 @@ def benchmark_gpu_buffer(capacity, obs_dim, action_dim, batch_size, num_updates,
         indices = torch.randint(0, capacity, (batch_size,), device=device)
         obs = obs_buf[indices]
         actions = actions_buf[indices]
-        next_obs = next_obs_buf[indices]
+        next_obs_buf[indices]
 
         # Training step
         pred_actions = actor(obs)

benchmark/benchmark_ipc_buffer_layout.py

@@ -10,13 +10,12 @@
     python benchmark/benchmark_ipc_buffer_layout.py
 """
 
-import time
 import sys
+import time
 
 import numpy as np
 import torch
 
-
 # ---------------------------------------------------------------------------
 # helpers
 # ---------------------------------------------------------------------------

benchmark/benchmark_ipc_index_sort.py

@@ -10,13 +10,12 @@
     python benchmark/benchmark_ipc_index_sort.py
 """
 
-import time
 import sys
+import time
 
 import numpy as np
 import torch
 
-
 # ---------------------------------------------------------------------------
 # helpers
 # ---------------------------------------------------------------------------

benchmark/benchmark_ipc_weight_sync.py

@@ -16,16 +16,15 @@
     python benchmark/benchmark_ipc_weight_sync.py
 """
 
-import time
 import sys
 import threading
+import time
 from multiprocessing.shared_memory import SharedMemory
 
 import numpy as np
 import torch
 import torch.nn as nn
 
-
 # ---------------------------------------------------------------------------
 # helpers
 # ---------------------------------------------------------------------------

benchmark/benchmark_mj_step.py

@@ -21,14 +21,14 @@
 from pathlib import Path
 from typing import Dict, List
 
+import matplotlib
 import mujoco
 from mujoco import rollout as mj_rollout
-import matplotlib
 
 matplotlib.use("Agg")
 import matplotlib.pyplot as plt
-from matplotlib.patches import Patch
 import numpy as np
+from matplotlib.patches import Patch
 
 _IS_MACOS = platform.system() == "Darwin"
 
@@ -536,7 +536,7 @@ def main():
     if _IS_MACOS:
         if not _has_native_mujoco_mlx_step():
             raise RuntimeError("Native MLX step backend unavailable. Requires mujoco.mlx_step.")
-        print(f"macOS: native mlx_step available")
+        print("macOS: native mlx_step available")
     else:
         print(f"Non-macOS: using mujoco.rollout (1t vs {args.nthread}t)")