A ggml-based pure C++ audio inference framework that pulls 110+ model families (TTS, voice cloning, voice conversion, speech recognition, diarization, VAD, source separation, codecs and music generation) into one native runtime with CUDA, HIP, Vulkan, Metal and CPU backends, entered through a CLI, an OpenAI-style server, an embedded WebUI and JSON pipelines; same-machine comparisons against Python reference paths show 1.8x to 5x on several TTS routes and up to 37% lower peak VRAM with Q8 packages.
A small Python + C++ library from Kevin Zakka that steps thousands of MuJoCo simulations in parallel on the CPU through a single Batch object: C++ thread pool execution with the GIL released, bind() giving live array views across the whole batch, and expand() for per-simulation model parameters. Memory scales with thread count rather than simulation count, so 4096 simulations stay under 256MB; on a 24-thread machine with a Unitree G1 scene it measured 10.3x over a serial mj_step loop, reaching 676,019 sim-substeps per second with ten substeps batched per call. The repo ships six self-contained solver examples spanning iLQR, predictive-sampling MPC, PPO reinforcement learning, CEM hardware co-design and damped Gauss-Newton system identification, including a Go1 joystick controller that learns to walk in under a minute on a five-year-old M1 laptop.
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