- Fix EMA kernel: add tau_buf device field, async HtoD via stable host
address, pass pointer not scalar (was ILLEGAL_ADDRESS every step)
- Fix HER relabel kernel: revert indirect ptr_buf to direct bf16 pointer
- Fix PER update kernel: revert indirect ptr_buf to direct u32/bf16 pointers
- Remove IQL per-step DtoH readback (cuStreamSynchronize blocks graph capture)
- Permanently disable cudarc event tracking (SyncOnDrop safe for capture)
- EventTrackingGuard no longer re-enables tracking on drop
- Pre-allocate pass1_event/pass3_event (no cuEventCreate per step)
- RawCudaGraph: raw CUDA driver API bypassing cudarc bind_to_thread
- graph_aux captures ~30 aux kernel launches (HER+clip+EMA+attn+IQL+IQN+CQL)
into single CUDA graph, replayed from step 3+ for zero launch overhead
- IQN/GpuDqnTrainer: tau_host stable field for graph-captured HtoD
- Remove 3 dead indirect pointer kernels from dqn_utility_kernels.cu
- Local RTX 3050: 7.5ms/step steady state (batch=64, 200 steps/epoch)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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