chore(deps): bump torch to 2.14 and unify CUDA wheels on cu130

CONTRIBUTING.md

@@ -7,7 +7,7 @@ Languages: English | [简体中文](docs/sphinx/source/zh_CN/4-developer_guide/4
 1. Fork and clone the repository.
 2. Install dependencies for your platform:
    - macOS (MPS, installs PyPI torch wheels): `make setup-motrix` (or `make setup-mujoco`)
-   - Linux default (installs PyTorch cu128 wheels; requires an NVIDIA GPU/driver supported by current PyTorch cu128 wheels): `make setup`
+   - Linux default (installs PyTorch cu130 wheels; requires an NVIDIA GPU/driver supported by current PyTorch cu130 wheels): `make setup`
    - Linux AMD / ROCm workstation: `make sync-rocm`, then run commands with `uv run --no-sync ...`
    - For direct uv setup, use `uv sync --extra mujoco --extra motrix`; replace it
      with `--extra mujoco` or `--extra motrix` for a single backend

docs/sphinx/source/en/1-getting_started/2-installation.md

@@ -245,7 +245,7 @@ Reverse-lookup from error text to cause and fix.
 ## Platform Profiles
 
 Linux CUDA and macOS use the default `pyproject.toml`. The default Linux torch
-wheel source is the PyTorch `cu128` index configured in `pyproject.toml`.
+wheel source is the PyTorch `cu130` index configured in `pyproject.toml`.
 
 On Apple Silicon macOS, `make setup-motrix` is the shortest interactive path.
 The CLI routes Motrix playback through `mxpython` when needed; MuJoCo playback

docs/sphinx/source/en/4-developer_guide/4-contributing.md

@@ -9,7 +9,7 @@ Install dependencies for your platform. The setup targets also install the
 optional simulator extras used by the repository's checks:
 
 - macOS (MPS, PyPI torch wheel): `make setup-motrix` (or `uv sync --extra mujoco`)
-- Linux with NVIDIA (PyTorch cu128 wheel): `make setup`
+- Linux with NVIDIA (PyTorch cu130 wheel): `make setup`
 - Linux AMD / ROCm: `make sync-rocm`, then run commands with `uv run ...`. To
   return to the default CUDA / macOS profile, `git restore -- pyproject.toml
   uv.lock` and re-run `make setup`.

docs/sphinx/source/zh_CN/1-getting_started/2-installation.md

@@ -220,7 +220,7 @@ fork 的构建在编译期钉住 `mujoco==3.11.0`，因此隔离构建总是针
 ## 平台配置档
 
 Linux CUDA 和 macOS 使用默认的 `pyproject.toml`。默认的 Linux torch
-wheel 来源是在 `pyproject.toml` 中配置的 PyTorch `cu128` 索引。
+wheel 来源是在 `pyproject.toml` 中配置的 PyTorch `cu130` 索引。
 
 在 Apple Silicon macOS 上，`make setup-motrix` 是最短的交互式路径。CLI 会在需要时
 通过 `mxpython` 路由 Motrix 回放；MuJoCo 回放使用官方 MuJoCo wheel 自带的

docs/sphinx/source/zh_CN/4-developer_guide/4-contributing.md

@@ -8,7 +8,7 @@
 按平台安装依赖。setup target 也会安装仓库检查所需的可选仿真器 extra：
 
 - macOS（MPS，PyPI torch wheel）：`make setup-motrix`（或 `uv sync --extra mujoco`）
-- Linux NVIDIA（PyTorch cu128 wheel）：`make setup`
+- Linux NVIDIA（PyTorch cu130 wheel）：`make setup`
 - Linux AMD / ROCm：`make sync-rocm`，随后用 `uv run ...` 运行命令。要切回默认
   CUDA / macOS profile，执行 `git restore -- pyproject.toml uv.lock` 后重新
   `make setup`。

pyproject.rocm.toml

@@ -24,8 +24,8 @@ requires-python = ">=3.10,<3.14"
 dependencies = [
     "numpy",
     "unisim-core>=1.7.8",
-    "torch==2.11.0",
-    "triton-rocm==3.6.0 ; sys_platform == 'linux' and platform_machine == 'x86_64'",
+    "torch==2.14.0",
+    "triton-rocm==3.8.0 ; sys_platform == 'linux' and platform_machine == 'x86_64'",
     "gymnasium",
     "imageio",
     "etils",
@@ -35,7 +35,7 @@ dependencies = [
     "packaging",
     "mediapy",
     "tensorboard",
-    "setuptools<70",
+    "setuptools",
     "rich",
     "tqdm",
     "typing-extensions",

pyproject.toml

@@ -40,8 +40,7 @@ dependencies = [
     "prettytable>=3.10",
     # A range (not an exact pin) lets ROCm users substitute a ROCm torch
     # build; uv.lock pins the tested CUDA builds via tool.uv.sources.
-    "torch>=2.9,<2.12 ; sys_platform == 'linux' and platform_machine == 'aarch64'",
-    "torch>=2.8,<2.12 ; sys_platform != 'linux' or platform_machine != 'aarch64'",
+    "torch>=2.9,<2.15",
     "gymnasium",
     "imageio",
     "etils",
@@ -122,21 +121,15 @@ superdex = [
 # unilab-rl runtime stays installed in the dev environment.
 dev = ["pytest", "pytest-cov", "ruff", "mypy", "pyright>=1.1.408", "unilab-rl==1.4.0"]
 
-[[tool.uv.index]]
-name = "pytorch-cu128"
-url = "https://download.pytorch.org/whl/cu128"
-explicit = true
-
 [[tool.uv.index]]
 name = "r2-cu130"
 url = "https://download-r2.pytorch.org/whl/cu130"
 explicit = true
 
 [tool.uv.sources]
+# cu130 carries torch>=2.12 CUDA wheels for linux/win; macOS resolves from PyPI.
 torch = [
-    { index = "r2-cu130", marker = "sys_platform=='linux' and platform_machine=='aarch64'" },
-    { index = "pytorch-cu128", marker = "sys_platform=='linux' and platform_machine=='x86_64'" },
-    { index = "pytorch-cu128", marker = "sys_platform=='win32'" },
+    { index = "r2-cu130", marker = "sys_platform=='linux' or sys_platform=='win32'" },
 ]
 
 [tool.uv]

tests/scripts/test_torch_cuda_source.py

@@ -22,15 +22,12 @@ def test_torch_cuda_source_covers_windows_and_linux() -> None:
         }
         return
 
-    cu128_sources = [source for source in torch_sources if source.get("index") == "pytorch-cu128"]
     cu130_sources = [source for source in torch_sources if source.get("index") == "r2-cu130"]
 
-    assert {source["marker"] for source in cu128_sources} == {
-        "sys_platform=='linux' and platform_machine=='x86_64'",
-        "sys_platform=='win32'",
-    }
+    # cu128 tops out at torch 2.11; torch>=2.12 CUDA wheels for linux/win all
+    # ship from cu130, so a single source entry covers both.
     assert [source["marker"] for source in cu130_sources] == [
-        "sys_platform=='linux' and platform_machine=='aarch64'"
+        "sys_platform=='linux' or sys_platform=='win32'"
     ]
 
 
@@ -48,42 +45,35 @@ def test_windows_lock_uses_cuda_torch() -> None:
     if rocm_dependency is not None:
         assert {
             "name": "torch",
-            "version": "2.11.0+rocm7.2",
+            "version": "2.14.0+rocm7.2",
             "source": {"registry": "https://download.pytorch.org/whl/rocm7.2"},
             "marker": "platform_machine == 'x86_64' and sys_platform == 'linux'",
         } in torch_dependencies
         return
 
-    cu128_dependency = next(
+    cu130_dependency = next(
         dep
         for dep in torch_dependencies
-        if dep["version"] == "2.8.0+cu128"
-        and dep["source"] == {"registry": "https://download.pytorch.org/whl/cu128"}
+        if dep["version"] == "2.14.0+cu130"
+        and dep["source"] == {"registry": "https://download-r2.pytorch.org/whl/cu130"}
     )
     # uv adds impossible-extra guards for the Newton/mjwarp and Newton/mujoco
     # conflict matrix.  Assert the platform clauses remain present while
     # allowing those generated guards to evolve.
-    assert "platform_machine == 'x86_64' and sys_platform == 'linux'" in cu128_dependency["marker"]
-    assert "sys_platform == 'win32'" in cu128_dependency["marker"]
-    cu130_dependency = next(
-        dep
-        for dep in torch_dependencies
-        if dep["version"] == "2.9.0+cu130"
-        and dep["source"] == {"registry": "https://download-r2.pytorch.org/whl/cu130"}
-    )
-    assert "platform_machine == 'aarch64' and sys_platform == 'linux'" in cu130_dependency["marker"]
+    assert "sys_platform == 'linux'" in cu130_dependency["marker"]
+    assert "sys_platform == 'win32'" in cu130_dependency["marker"]
 
     torch_packages = [package for package in lock["package"] if package["name"] == "torch"]
-    cu128_package = next(
+    cu130_package = next(
         package
         for package in torch_packages
-        if package["source"] == {"registry": "https://download.pytorch.org/whl/cu128"}
+        if package["source"] == {"registry": "https://download-r2.pytorch.org/whl/cu130"}
     )
 
-    assert cu128_package["version"] == "2.8.0+cu128"
+    assert cu130_package["version"] == "2.14.0+cu130"
     assert any(
-        "sys_platform == 'win32'" in marker for marker in cu128_package["resolution-markers"]
+        "sys_platform == 'win32'" in marker for marker in cu130_package["resolution-markers"]
     )
 
-    wheel_urls = [wheel["url"] for wheel in cu128_package["wheels"]]
-    assert any("torch-2.8.0%2Bcu128" in url and "win_amd64.whl" in url for url in wheel_urls)
+    wheel_urls = [wheel["url"] for wheel in cu130_package["wheels"]]
+    assert any("torch-2.14.0%2Bcu130" in url and "win_amd64.whl" in url for url in wheel_urls)