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Issue title

Python Pickle Loads

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Severity Rule Title File:line
CRIT MINED107 [MINED107] Missing import: `array` used but not imported: The file uses `array.something(… src/unilab/envs/motion_tracking/g1/moti…:84
CRIT MINED107 [MINED107] Missing import: `queue` used but not imported: The file uses `queue.something(… src/unilab/algos/torch/appo/runner.py:439
CRIT MINED107 [MINED107] Missing import: `warnings` used but not imported: The file uses `warnings.some… tests/scripts/doc_checks.py:447
CRIT MINED107 [MINED107] Missing import: `stat` used but not imported: The file uses `stat.something(..… benchmark/benchmark_replay_buffer_place…:744
CRIT MINED030 [MINED030] Python Pickle Loads: pickle.loads() can execute arbitrary code via __reduce__. src/unilab/algos/mlx/ppo/runner.py:161
CRIT SEC081 [SEC081] Python: pickle.loads / marshal.loads on untrusted data: pickle.load(s) and marsh… src/unilab/algos/mlx/ppo/runner.py:161
HIGH MINED006 [MINED006] Overcatch Baseexception: except BaseException: ... — prevents Ctrl+C and Syste… src/unilab/tools/render_teaser.py:77
HIGH SEC103 [SEC103] LDAP injection — non-constant search filter: User input concatenated into an LDA… src/unilab/utils/support_matrix.py:177
HIGH SEC103 [SEC103] LDAP injection — non-constant search filter: User input concatenated into an LDA… benchmark/core/device_info.py:42
HIGH SEC128 [SEC128] Async function without await — fire-and-forget Promise (AI mistake): Async call … src/unilab/algos/mlx/common/normalizati…:60
HIGH SEC128 [SEC128] Async function without await — fire-and-forget Promise (AI mistake): Async call … scripts/visualize_task_env.py:127
HIGH SEC128 [SEC128] Async function without await — fire-and-forget Promise (AI mistake): Async call … benchmark/benchmark_physics_step_genesi…:93
HIGH MINED001 [MINED001] Bare Except Pass: except: pass or except Exception: pass — silently swallows e… benchmark/core/mem_profile.py:32
HIGH MINED001 [MINED001] Bare Except Pass: except: pass or except Exception: pass — silently swallows e… benchmark/core/device_info.py:108
HIGH MINED001 [MINED001] Bare Except Pass: except: pass or except Exception: pass — silently swallows e… benchmark/benchmark_fast_sac_backends.py:106
HIGH DKR006 Dockerfile pipes a remote script into a shell Dockerfile:30
HIGH MINED115 [MINED115] Action `actions/upload-artifact` pinned to mutable ref `@v4`: `uses: actions/u… .github/workflows/docs.yml:64
HIGH MINED115 [MINED115] Action `astral-sh/setup-uv` pinned to mutable ref `@v8.0.0`: `uses: astral-sh/… .github/workflows/docs.yml:52
HIGH MINED115 [MINED115] Action `actions/checkout` pinned to mutable ref `@v4`: `uses: actions/checkout… .github/workflows/docs.yml:49
HIGH MINED115 [MINED115] Action `astral-sh/setup-uv` pinned to mutable ref `@v8.0.0`: `uses: astral-sh/… .github/workflows/ci.yml:102
HIGH MINED115 [MINED115] Action `actions/checkout` pinned to mutable ref `@v6.0.2`: `uses: actions/chec… .github/workflows/ci.yml:97
HIGH MINED115 [MINED115] Action `astral-sh/setup-uv` pinned to mutable ref `@v8.0.0`: `uses: astral-sh/… .github/workflows/ci.yml:83
HIGH MINED115 [MINED115] Action `actions/checkout` pinned to mutable ref `@v6.0.2`: `uses: actions/chec… .github/workflows/ci.yml:78
HIGH MINED115 [MINED115] Action `astral-sh/setup-uv` pinned to mutable ref `@v8.0.0`: `uses: astral-sh/… .github/workflows/ci.yml:67
HIGH MINED115 [MINED115] Action `actions/checkout` pinned to mutable ref `@v6.0.2`: `uses: actions/chec… .github/workflows/ci.yml:62
HIGH MINED115 [MINED115] Action `astral-sh/setup-uv` pinned to mutable ref `@v8.0.0`: `uses: astral-sh/… .github/workflows/ci.yml:51
HIGH MINED115 [MINED115] Action `actions/checkout` pinned to mutable ref `@v6.0.2`: `uses: actions/chec… .github/workflows/ci.yml:46
HIGH MINED115 [MINED115] Action `astral-sh/setup-uv` pinned to mutable ref `@v8.0.0`: `uses: astral-sh/… .github/workflows/ci.yml:35
HIGH MINED115 [MINED115] Action `actions/checkout` pinned to mutable ref `@v6.0.2`: `uses: actions/chec… .github/workflows/ci.yml:30
HIGH MINED131 [MINED131] pre-commit hook `https://github.com/pre-commit/mirrors-mypy` pinned to mutable… .pre-commit-config.yaml:14
HIGH MINED131 [MINED131] pre-commit hook `https://github.com/RobertCraigie/pyright-python` pinned to mu… .pre-commit-config.yaml:8
HIGH MINED131 [MINED131] pre-commit hook `https://github.com/astral-sh/ruff-pre-commit` pinned to mutab… .pre-commit-config.yaml:2
HIGH MINED118 [MINED118] Dockerfile FROM `nvidia/cuda:12.8.0-cudnn-runtime-ubuntu22.04` not pinned by d… Dockerfile:2
MED MINED109 [MINED109] Mutable default argument in `__init__` (list): `def __init__(... = []/{}/set()… src/unilab/algos/torch/common/ane_actor…:13
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_conversions.py:53
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_physics_step_motrix…:51
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mujoco_vs_motrix.py:169
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mujoco_vs_motrix.py:156
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mujoco_vs_motrix.py:108
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mujoco_vs_motrix.py:55
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_physics_step_mujoco…:256
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_physics_step_mujoco…:165
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_backends.py:211
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_backends.py:48
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_backends.py:43
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_backends.py:38
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_env_step.py:1552
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:1170
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:899
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:824
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:751
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:120
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:112
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:107
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:103
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:97
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:90
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mlp_inference.py:54
MED MINED111 [MINED111] Bare except continues silently: Bare `except:` (or `except Exception:`) that r… benchmark/benchmark_mujoco_rollout_mode…:41
MED SEC127 [SEC127] AI agent stub — TODO: implement / pass placeholder body: Function body left as T… src/unilab/algos/torch/him_ppo/actor_cr…:80
MED SEC127 [SEC127] AI agent stub — TODO: implement / pass placeholder body: Function body left as T… src/unilab/algos/torch/common/base_coll…:68
MED SEC007 [SEC007] Unsafe Deserialization: Unsafe deserialization can execute arbitrary code. src/unilab/algos/mlx/ppo/runner.py:161
MED SEC136 [SEC136] AI-typical over-broad exception handler swallowing all errors: Catch-all excepti… scripts/visualize_task_env.py:55
MED SEC136 [SEC136] AI-typical over-broad exception handler swallowing all errors: Catch-all excepti… benchmark/core/mem_profile.py:70
MED SEC136 [SEC136] AI-typical over-broad exception handler swallowing all errors: Catch-all excepti… benchmark/core/backends.py:46
MED ERR001 [ERR001] Silent Exception Swallowing: Silently swallowing all exceptions hides bugs. Even… benchmark/core/mem_profile.py:32
MED ERR001 [ERR001] Silent Exception Swallowing: Silently swallowing all exceptions hides bugs. Even… benchmark/core/device_info.py:108
MED ERR001 [ERR001] Silent Exception Swallowing: Silently swallowing all exceptions hides bugs. Even… benchmark/benchmark_fast_sac_backends.py:106
MED DKR001 Docker final stage has no non-root USER Dockerfile:2
MED DKR014 Dockerfile copies broad context with incomplete .dockerignore Dockerfile:34
MED AGT015 Remote install command pipes network code directly to a shell docs/sphinx/source/zh_CN/1-getting_star…:15
MED AGT015 Remote install command pipes network code directly to a shell docs/sphinx/source/zh_CN/1-getting_star…:10
MED AGT015 Remote install command pipes network code directly to a shell docs/sphinx/source/zh_CN/0-index.md:66
MED AGT015 Remote install command pipes network code directly to a shell docs/sphinx/source/en/1-getting_started…:16
MED AGT015 Remote install command pipes network code directly to a shell docs/sphinx/source/en/1-getting_started…:10
MED AGT015 Remote install command pipes network code directly to a shell docs/sphinx/source/en/0-index.md:67
MED AGT015 Remote install command pipes network code directly to a shell README_zh.md:84
MED AGT015 Remote install command pipes network code directly to a shell README.md:84
LOW SEC124 [SEC124] TOCTOU file access (os.access then open): Check-then-use file pattern (access/ex… src/unilab/algos/torch/common/ane_actor…:51
LOW COMP001 [COMP001] High cognitive complexity: Function `_top_array_attrs` has cognitive complexity… benchmark/benchmark_mjmodel_memory.py:64
LOW COMP001 [COMP001] High cognitive complexity: Function `run_backend` has cognitive complexity 8 (S… benchmark/benchmark_fast_sac_backends.py:33
LOW COMP001 [COMP001] High cognitive complexity: Function `main` has cognitive complexity 10 (SonarSo… benchmark/benchmark_backends.py:189
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go2/rough.py:40
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go2/joystick…:168
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go2/joystick…:82
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go2/joystick…:22
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go2/handstan…:236
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go2/handstan…:166
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go2/base.py:4
LOW AIC003 Duplicated implementation block across source files src/unilab/envs/locomotion/go1/rough.py:351
LOW AIC003 Duplicated implementation block across source files src/unilab/base/np_env.py:301
LOW AIC003 Duplicated implementation block across source files src/unilab/base/np_env.py:298
LOW AIC003 Duplicated implementation block across source files src/unilab/base/base.py:66
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/rsl_rl_ppo.py:204
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/offpolicy/runner…:541
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/offpolicy/runner…:164
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/offpolicy/multi_…:358
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/hora/sac_models.…:139
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/hora/ppo.py:87
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/hora/appo_worker…:51
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/hora/appo_runner…:154
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/hora/appo_learne…:113
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/torch/hora/appo.py:79
LOW AIC003 Duplicated implementation block across source files src/unilab/algos/mlx/ppo/runner.py:66
LOW AIC003 Duplicated implementation block across source files scripts/train_rsl_rl.py:110
LOW AIC003 Duplicated implementation block across source files scripts/train_offpolicy.py:561
LOW AIC003 Duplicated implementation block across source files scripts/train_hora_distill.py:126
LOW AIC003 Duplicated implementation block across source files scripts/motion/replay_npz.py:35
LOW AIC003 Duplicated implementation block across source files scripts/motion/replay_bones_seed_csv.py:58
LOW AIC003 Duplicated implementation block across source files scripts/motion/csv_to_npz.py:26
LOW AIC003 Duplicated implementation block across source files scripts/deploy/prepend_warmup.py:65
LOW AIC003 Duplicated implementation block across source files scripts/deploy/export_motion_bin.py:33
LOW DKR008 .dockerignore misses sensitive defaults .dockerignore
LOW AIC002 Source file name looks like an AI patch artifact src/unilab/ipc/replay_pipelines/transfe…:1
INFO MINED072 [MINED072] Python Pass Only Class: class Foo: pass — stub waiting to be filled in. src/unilab/envs/locomotion/go2/base.py:16
INFO MINED072 [MINED072] Python Pass Only Class: class Foo: pass — stub waiting to be filled in. src/unilab/envs/locomotion/go1/base.py:14
INFO MINED090 [MINED090] Python Tempfile Mktemp: tempfile.mktemp() is deprecated due to TOCTOU race. src/unilab/algos/torch/common/ane_actor…:51
INFO MINED062 [MINED062] Python Dataclass No Fields: @dataclass over an empty class — unfinished model. src/unilab/algos/torch/hora/appo.py:28
INFO MINED062 [MINED062] Python Dataclass No Fields: @dataclass over an empty class — unfinished model. src/unilab/algos/torch/appo/runtime.py:15
INFO MINED062 [MINED062] Python Dataclass No Fields: @dataclass over an empty class — unfinished model. src/unilab/algos/mlx/common/rollout_sto…:11
INFO MINED050 [MINED050] Stub Only Function: Function declared but body is just pass, return None, rais… benchmark/core/mem_profile.py:33
INFO MINED050 [MINED050] Stub Only Function: Function declared but body is just pass, return None, rais… benchmark/core/device_info.py:109
INFO MINED050 [MINED050] Stub Only Function: Function declared but body is just pass, return None, rais… benchmark/benchmark_fast_sac_backends.py:107
Reset to top 5 123 findings available (after auto-suppression of test files + won't-fix)

Issue body (markdown)

## Code-quality scan: `unilabsim/UniLab`

**Score: 86/100 (A)**  ·  173 findings  ·  scanned 2026-06-05 14:33 UTC  ·  106,154 LOC

| Severity | Count |
|---|---|
| CRITICAL | 6 |
| HIGH | 27 |
| MEDIUM | 45 |
| LOW | 36 |

📊 [Full filterable report](https://repobility.com/scan/06d21e0a-afaf-4f7f-aeb3-566a8e10033f/)  ·  ![scorecard](https://repobility.com/scan/06d21e0a-afaf-4f7f-aeb3-566a8e10033f/report.png?v=1780670038-s2)

### Top findings

1. **CRITICAL** `MINED107` — Missing import: `array` used but not imported
   `src/unilab/envs/motion_tracking/g1/motion_loader.py:84` · ✓ Repobility
2. **CRITICAL** `MINED107` — Missing import: `queue` used but not imported
   `src/unilab/algos/torch/appo/runner.py:439` · ✓ Repobility
3. **CRITICAL** `MINED107` — Missing import: `warnings` used but not imported
   `tests/scripts/doc_checks.py:447` · ✓ Repobility
4. **CRITICAL** `MINED107` — Missing import: `stat` used but not imported
   `benchmark/benchmark_replay_buffer_placement.py:744` · ✓ Repobility
5. **CRITICAL** `MINED030` — Python Pickle Loads
   `src/unilab/algos/mlx/ppo/runner.py:161` · CWE-502 · ✓ Repobility

---

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117/186 findings (63%) on this scan are already flagged as test-file, won't-fix, or suppressed. The scan is too noisy to file as a single issue. Curate down to specific actionable findings, or address the FP source first.
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