feat(superdex): restore TorchEnv CPU host-bridge owners

docs/sphinx/source/en/2-user_guide/3-backends/0-index.md

@@ -1,11 +1,11 @@
 # Simulation Backends
 
 The tensor-only Manager runtime currently exposes `mujoco`, `mjwarp`, `genesis`,
-`newton`, `motrix`, and the scoped Drake owner described below. User commands
-select one with `--sim`, which routes to the matching task owner YAML; do not
-switch a run by overriding `training.sim_backend` alone.
+`newton`, `motrix`, `superdex`, and the scoped Drake owner described below.
+User commands select one with `--sim`, which routes to the matching task owner
+YAML; do not switch a run by overriding `training.sim_backend` alone.
 
-The `isaacgym`, `isaacsim`, and `superdex` adapters remain temporarily shelved
+The `isaacgym` and `isaacsim` adapters remain temporarily shelved
 by `unisim-core` during issue #1811. Their historical pages are retained for
 adapter context only and are not production support claims. The train/eval CLI
 rejects these names until new capability, parity, and support-matrix evidence is
@@ -24,6 +24,9 @@ provided.
 - Motrix requires the `motrix` extra and provides a CPU-authoritative packed
   HOST_BRIDGE; the current canonical support scope is SAC `g1_walk_flat` and
   FlashSAC `g1_motion_tracking`.
+- SuperDex requires the `superdex` extra on CPython 3.12/3.13 Linux x86_64 and
+  provides a CPU-authoritative packed HOST_BRIDGE; the current scope is the
+  configured Go2 and FR3 research owners.
 - Drake requires the locally built DrakeUni batch extension. Its scoped PPO
   `go2_joystick_flat` owner uses CPU physics and the packed HOST_BRIDGE
   lifecycle; floating-root and reset-randomization events remain disabled until
@@ -38,6 +41,7 @@ provided.
 | Genesis | Linux x86_64 | Required: NVIDIA GPU and driver; only the `gs.gpu` channel is validated |
 | Newton | Linux | Required: NVIDIA CUDA; the selected-reset lane is device-resident |
 | Motrix | Linux / macOS / Windows | CPU-authoritative physics; Torch CUDA buffers are optional |
+| SuperDex | Linux x86_64 (CPython 3.12/3.13) | CPU-authoritative physics; Torch CUDA buffers are optional |
 | Drake | Linux x86_64 / Apple Silicon macOS | CPU-authoritative physics; Torch CUDA buffers are optional |
 
 Backend device requirements are independent of the learner device: MuJoCo can
@@ -57,7 +61,7 @@ the algorithm in `--algo`, not in `--task`.
 | Default path or broadest owner coverage | MuJoCo |
 | MuJoCo-only tools such as `scripts/play_viser.py` | MuJoCo |
 | Device-resident tensor owner | MJWarp, Genesis, or Newton, when the task support matrix marks the combination supported |
-| CPU-authoritative packed HOST_BRIDGE | Motrix |
+| CPU-authoritative packed HOST_BRIDGE | Motrix; SuperDex or scoped Drake for their configured research owners |
 
 The support matrix is generated from registry, owner YAML, and tests; use it as
 the current evidence source: {doc}`../../5-reference/5-support_matrix`.
@@ -110,7 +114,7 @@ uv run python -c "import unisim; print(unisim.ADAPTER_SPECS)"
 ```
 
 `unisim` has no dependency on UniLab, Hydra, or training components. The scoped
-MuJoCo, MJWarp, Genesis, Newton, and Motrix adapters and the temporarily
+MuJoCo, MJWarp, Genesis, Newton, Motrix, and SuperDex adapters and the temporarily
 shelved adapters use one public contract. Missing proprietary SDKs or GPU
 workers produce an explicit cold-path diagnostic; no backend silently falls
 back to another engine.
@@ -122,4 +126,5 @@ back to another engine.
 5-genesis
 7-newton
 2-motrix
+8-superdex
 ```

docs/sphinx/source/en/2-user_guide/3-backends/8-superdex.md

@@ -1,13 +1,15 @@
 # SuperDex Backend
 
-> **SuperDex is temporarily shelved.** This adapter is outside the tensor-only Manager runtime during #1811 and is not a production support claim. The train/eval CLI rejects it until new capability, parity, and support-matrix evidence is provided.
+> SuperDex participates in the tensor-only Manager runtime as a packed CPU
+> `HOST_BRIDGE` backend. Its Go2 and FR3 owners remain **Configured** research
+> profiles, not full-training or cross-platform production claims.
 
 
 SuperDex is an optional CPU physics adapter owned by `unisim.backend.superdex`.
 The initial UniLab owner is the fixed-base `FR3JointTarget` task:
 `src/unilab/conf/ppo/task/fr3_joint_target/superdex.yaml`. It uses seven torque
-actions, 21 observation values, joint-state resets and the standard NumPy
-manager runtime. Its support level is **Configured**; bounded rollout or short
+actions, 21 observation values, selected tensor joint-state resets, and
+`TorchEnv`. Its support level is **Configured**; bounded rollout or short
 training checks do not establish full-training performance or platform support.
 The implementation is tracked in [#1534](https://github.com/Motphys/UniLab/issues/1534)
 under [roadmap #1533](https://github.com/Motphys/UniLab/issues/1533).

docs/sphinx/source/en/5-reference/5-support_matrix.md

@@ -79,32 +79,34 @@ This table is derived from UniSim's SDK-free public static inventory. It describ
 | `drake` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge only; no ROCm CUDA-only fallback | In-process; no external Python worker | Unsupported | Unsupported | Unsupported | Exact |
 | `mjwarp` | Device-resident / in-process / direct | CUDA | Required for the entire tensor lifecycle | Supported: Linux CUDA only | Unsupported; no CPU, MPS, or ROCm fallback | Unsupported; no CPU, MPS, or ROCm fallback | In-process; no external Python worker | Unsupported | Unsupported | Unsupported | Unsupported |
 | `newton` | Device-resident / in-process / direct | CUDA | Required for the entire tensor lifecycle | Supported: Linux CUDA only | Unsupported; no CPU, MPS, or ROCm fallback | Unsupported; no CPU, MPS, or ROCm fallback | In-process; no external Python worker | Unsupported | Unsupported | Unsupported | Unsupported |
+| `superdex` | Host bridge / in-process / host bridge | CPU / CUDA | Required only when the learner requests CUDA state/control buffers | Supported: CPU-authoritative physics with optional CUDA Torch buffers | CPU-authoritative host bridge only; no CUDA physics claim | CPU-authoritative host bridge only; no ROCm CUDA-only fallback | In-process; no external Python worker | Unsupported | Unsupported | Unsupported | Exact |
 | `genesis` | Device-resident / in-process / direct | CUDA | Required for the entire tensor lifecycle | Supported: Linux CUDA only | Unsupported; no CPU, MPS, or ROCm fallback | Unsupported; no CPU, MPS, or ROCm fallback | In-process; no external Python worker | Unsupported | Unsupported | Unsupported | Unsupported |
 
 ### Entrypoint x Task Owner
 
-| Entrypoint | Task owner | MuJoCo | Motrix | Drake | mjwarp | Newton | Genesis |
-|------------|------------|---|---|---|---|---|---|
-| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | Configured | - | - | - |
-| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Tested | Registered | Configured |
-| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - | - |
-| PPO (torch) | `x2_wall_flip_tracking` (X2 wall flip tracking) | Tested | - | - | - | - | - |
-| PPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - | - |
-| PPO (torch) | `allegro_inhand_grasp` (allegro inhand grasp) | Tested | - | - | - | - | - |
-| PPO (torch) | `g1_box_tracking` (g1 box tracking) | Tested | - | - | - | - | - |
-| PPO (torch) | `stewart_balance` (stewart balance) | Tested | - | - | - | - | - |
-| APPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | Registered | - | - | - |
-| APPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Registered | Registered | Registered |
-| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - | - |
-| APPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - | - |
-| SAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Tested | Tested | Tested |
-| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Configured | Registered | Configured |
-| SAC (torch) | `g1_wbt_obs` (g1 wbt obs) | Tested | - | - | - | - | - |
-| FlashSAC (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | Registered | - | - | - |
-| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Configured | Registered | Registered |
-| FlashSAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Configured | Configured | Configured |
-| WarpSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Tested | Registered | Registered |
-| WarpSAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Tested | Registered | Registered |
+| Entrypoint | Task owner | MuJoCo | Motrix | Drake | mjwarp | Newton | SuperDex | Genesis |
+|------------|------------|---|---|---|---|---|---|---|
+| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | Configured | - | - | Configured | - |
+| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Tested | Registered | - | Configured |
+| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - | - | - |
+| PPO (torch) | `x2_wall_flip_tracking` (X2 wall flip tracking) | Tested | - | - | - | - | - | - |
+| PPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - | - | - |
+| PPO (torch) | `allegro_inhand_grasp` (allegro inhand grasp) | Tested | - | - | - | - | - | - |
+| PPO (torch) | `fr3_joint_target` (fr3 joint target) | - | - | - | - | - | Configured | - |
+| PPO (torch) | `g1_box_tracking` (g1 box tracking) | Tested | - | - | - | - | - | - |
+| PPO (torch) | `stewart_balance` (stewart balance) | Tested | - | - | - | - | - | - |
+| APPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | Registered | - | - | Registered | - |
+| APPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Registered | Registered | - | Registered |
+| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - | - | - |
+| APPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - | - | - |
+| SAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Tested | Tested | - | Tested |
+| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Configured | Registered | - | Configured |
+| SAC (torch) | `g1_wbt_obs` (g1 wbt obs) | Tested | - | - | - | - | - | - |
+| FlashSAC (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | Registered | - | - | Registered | - |
+| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Configured | Registered | - | Registered |
+| FlashSAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Configured | Configured | - | Configured |
+| WarpSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Tested | Registered | - | Registered |
+| WarpSAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Tested | Registered | - | Registered |
 
 ### Source Index
 

docs/sphinx/source/zh_CN/2-user_guide/3-backends/0-index.md

@@ -1,11 +1,11 @@
 # 仿真后端
 
 当前 tensor-only Manager runtime 暴露 `mujoco`、`mjwarp`、`genesis`、
-`newton`、`motrix`，以及下文描述的 scoped Drake owner。用户命令通过 `--sim`
-选择后端，并组合对应的 task owner YAML；不要单独覆盖
+`newton`、`motrix`、`superdex`，以及下文描述的 scoped Drake owner。用户命令
+通过 `--sim` 选择后端，并组合对应的 task owner YAML；不要单独覆盖
 `training.sim_backend`。
 
-`isaacgym`、`isaacsim` 与 `superdex` 适配器在 issue #1811 期间由
+`isaacgym` 与 `isaacsim` 适配器在 issue #1811 期间由
 `unisim-core` 暂时搁置。历史页面仅用于 adapter 背景，不构成生产支持声明。
 在提供新的 capability、parity 与支持矩阵证据之前，train/eval CLI 会直接
 拒绝这些后端。
@@ -21,6 +21,9 @@
   为 SAC `g1_walk_flat` 和 FlashSAC `g1_motion_tracking`。
 - Motrix 需要 `motrix` extra，提供 CPU-authoritative packed HOST_BRIDGE；当前
   canonical 支持范围为 SAC `g1_walk_flat` 和 FlashSAC `g1_motion_tracking`。
+- SuperDex 在 CPython 3.12/3.13 Linux x86_64 上需要 `superdex` extra，提供
+  CPU-authoritative packed HOST_BRIDGE；当前范围为 Go2 与 FR3 configured
+  research owner。
 - Drake 需要本地编译的 DrakeUni batch extension。其 scoped PPO
   `go2_joystick_flat` owner 使用 CPU physics 与 packed HOST_BRIDGE
   lifecycle；在 backend contract 补齐前，浮动根重置与 reset randomization
@@ -35,6 +38,7 @@
 | Genesis | Linux x86_64 | 要求：NVIDIA GPU 与 driver；仅验证 `gs.gpu` channel |
 | Newton | Linux | 要求：NVIDIA CUDA；selected-reset 通道为 device-resident |
 | Motrix | Linux / macOS / Windows | CPU-authoritative physics；Torch CUDA buffer 可选 |
+| SuperDex | Linux x86_64（CPython 3.12/3.13） | CPU-authoritative physics；Torch CUDA buffer 可选 |
 | Drake | Linux x86_64 / Apple Silicon macOS | CPU-authoritative physics；Torch CUDA buffer 可选 |
 
 后端设备要求与 learner 设备独立：MuJoCo 仍可以让 learner 使用 CUDA、ROCm、MPS
@@ -52,7 +56,7 @@ UniLab 通过 task owner config 选择仿真后端。常规用法通过 `--task`
 | 默认路径或 owner 覆盖最广 | MuJoCo |
 | `scripts/play_viser.py` 等 MuJoCo 专属工具 | MuJoCo |
 | Device-resident tensor owner | MJWarp、Genesis 或 Newton，且支持矩阵标记该组合为 supported |
-| CPU-authoritative packed HOST_BRIDGE | Motrix |
+| CPU-authoritative packed HOST_BRIDGE | Motrix；SuperDex 或 scoped Drake 的 configured research owner |
 
 支持矩阵由 registry、owner YAML 与测试生成；当前证据源见
 {doc}`../../5-reference/5-support_matrix`。
@@ -104,7 +108,7 @@ uv run python -c "import unisim; print(unisim.ADAPTER_SPECS)"
 ```
 
 `unisim` 不依赖 UniLab、Hydra 或训练组件。scoped
-MuJoCo/MJWarp/Genesis/Newton/Motrix 适配器与暂时搁置的适配器使用同一个
+MuJoCo/MJWarp/Genesis/Newton/Motrix/SuperDex 适配器与暂时搁置的适配器使用同一个
 public contract。缺失 proprietary SDK 或 GPU worker 时会产生明确的
 cold-path diagnostic；不会静默切换到另一个引擎。
 
@@ -115,4 +119,5 @@ cold-path diagnostic；不会静默切换到另一个引擎。
 5-genesis
 7-newton
 2-motrix
+8-superdex
 ```

docs/sphinx/source/zh_CN/2-user_guide/3-backends/8-superdex.md

@@ -1,12 +1,14 @@
 # SuperDex 后端
 
-> **SuperDex 暂时搁置。** 该适配器在 #1811 期间不属于 tensor-only Manager runtime，也不构成生产支持声明。在提供新的 capability、parity 与支持矩阵证据之前，train/eval CLI 会直接拒绝该后端。
+> SuperDex 已作为 packed CPU `HOST_BRIDGE` 后端加入 tensor-only Manager
+> runtime。Go2 与 FR3 owner 仍是 **Configured** 研究配置，不构成完整训练或
+> 跨平台生产支持声明。
 
 
 SuperDex 是由 `unisim.backend.superdex` 拥有的可选 CPU 物理后端。UniLab 首个
 owner 为固定基 `FR3JointTarget`，配置位于
 `src/unilab/conf/ppo/task/fr3_joint_target/superdex.yaml`。任务使用 7 维力矩动作、
-21 维观测、关节状态 reset 和标准 NumPy manager。当前支持等级为 **Configured**；
+21 维观测、selected tensor 关节 reset 和 `TorchEnv`。当前支持等级为 **Configured**；
 短 rollout 或少量训练迭代不能证明完整训练效果、性能或跨平台支持。
 实施见 [#1534](https://github.com/Motphys/UniLab/issues/1534)，所属
 roadmap 为 [#1533](https://github.com/Motphys/UniLab/issues/1533)。