Optimization API

CMAESOptimizer

The optimizer samples a candidate per mjlab world, applies candidate physical parameters, accumulates tracking error with tell, and advances a generation with evolve. See Advanced optimization for both the historical and explicit simulator-update signatures.

The constructor accepts finite ordered bounds in PACE's standard layout and a positive iteration count. tell() accepts only finite floating-point tensors with shape [population_size, len(joint_order)]; rejected input leaves the optimizer unchanged. update_simulator() validates all model tensors and actuator delay capacity before it changes an mjlab model, so a failed update does not leave partial candidate parameters behind.

Both the collection helper and CMA-ES call the same validated model adapter. This guarantees the same armature, damping, friction, encoder-bias, torque delay, reset, and forward() behavior for direct simulation and fitting.