Mujoco_WASM

Files

T

Yuval Tassa a2d0e33c0f 2-3x speedup of sparse matrix squaring.

Split symbolic and numeric phases for sparse `M'*diag*M` computation. Microseconds per call for the monolithic vs the split approach for the 100_humanoids and 2humanoid100 models:

```
+-------+------+----------+------------+---------+
| Model | Arch | Col (µs) | Split (µs) | Speedup |
+-------+------+----------+------------+---------+
| 2H100 | x86  | 238.3    | 74.5       | 3.2x    |
+-------+------+----------+------------+---------+
|       | ARM  | 111.6    | 53.2       | 2.1x    |
+-------+------+----------+------------+---------+
| 100H  | x86  | 1325.3   | 656.2      | 2.0x    |
+-------+------+----------+------------+---------+
|       | ARM  | 594.8    | 306.6      | 1.9x    |
+-------+------+----------+------------+---------+
```

PiperOrigin-RevId: 900154308
Change-Id: Ia6e9b8e196e2ed37b723a0faf60e9731303a9619

2026-04-15 07:19:41 -07:00

benchmark

2-3x speedup of sparse matrix squaring.

2026-04-15 07:19:41 -07:00

engine

2-3x speedup of sparse matrix squaring.

2026-04-15 07:19:41 -07:00

experimental

First-pass implementation of a spec loader for zipped assets.

2026-01-27 03:18:30 -08:00

plugin

Introduce mjpEncoder plugin architecture