rfx-sdk 0.1.3

A tinygrad-inspired robotics framework for Unitree Go2

rfx: A ground-up replacement for ROS, built for the foundation model era.

Homepage | Documentation | Discord

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rfx is robotics infrastructure for the data and embodiment layer:

• Rust core for real-time performance and safety
• Python SDK for fast research iteration
• ROS interop bindings for incremental migration
• Simulation, teleoperation, and hardware pipelines designed for scalable data collection
• rfxJIT IR/compiler/runtime that lowers and executes kernels across cpu/cuda/metal

ROS became the default robotics middleware over the last 15+ years, but it was designed for component message passing, not model-first robotics and large-scale data pipelines. rfx is designed from first principles for that new workflow.

It is inspired by PyTorch (ergonomics), JAX (functional transforms and IR-based AD), and TVM (scheduling/codegen), while explicitly targeting ROS replacement over time.

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Repository layout

rfx/            Rust core + Python package + tests + configs + examples
rfxJIT/         IR compiler and runtime (cpu/cuda/metal backends)
cli/            Command-line tools
docs/           Internal docs, perf baselines, contributor workflows
scripts/        Setup and CI helper scripts
.github/        GitHub Actions workflows

Core interface

All robots in rfx implement the same three-method protocol:

observation = robot.observe()
robot.act(action)
robot.reset()

This interface is consistent across simulation, real hardware, and teleoperation.

Installation

The recommended install for contributors is from source.

From source

git clone https://github.com/quantbagel/rfx.git
cd rfx
bash scripts/setup-from-source.sh

Direct (GitHub)

uv pip install git+https://github.com/quantbagel/rfx.git

PyPI (after release)

uv pip install rfx-sdk
uv pip install rfx-sdk-sim rfx-sdk-go2 rfx-sdk-lerobot

TestPyPI (current test channel)

uv pip install --index-url https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple \
  rfx-sdk rfx-sdk-sim rfx-sdk-go2 rfx-sdk-lerobot torch

Direct (local path)

uv venv .venv
uv pip install --python .venv/bin/python -e /absolute/path/to/rfx

Runtime switches (rfxJIT)

export RFX_JIT=1
export RFX_JIT_BACKEND=auto  # auto|cpu|cuda|metal
export RFX_JIT_STRICT=0      # 1 to raise if requested backend fails

With RFX_JIT=1, @rfx.policy(jit=True) can route NumPy policy calls through rfxJIT while preserving fallback behavior.

Quality and performance checks

Run local pre-push checks:

./.venv/bin/pre-commit run --all-files --hook-stage pre-push

Run the CPU perf gate used in CI:

bash scripts/perf-check.sh \
  --baseline docs/perf/baselines/rfxjit_microkernels_cpu.json \
  --backend cpu \
  --threshold-pct 10

Documentation

• Full documentation: deepwiki.com/quantbagel/rfx
• Docs entrypoint: docs/README.md
• SO101 quickstart: docs/so101.md
• Contributor workflow: docs/workflow.md
• Performance workflow: docs/perf/README.md
• Contributing guide: CONTRIBUTING.md

Community and support

• Issues: https://github.com/quantbagel/rfx/issues
• Discussions: https://github.com/quantbagel/rfx/discussions
• Pull requests: https://github.com/quantbagel/rfx/pulls
• Community expectations: CODE_OF_CONDUCT.md

License

MIT. See LICENSE.