What method is Genesis using for JIT compilation? What subset of Python syntax / operations will be supported? The automatic differentiation seems to be intend

What method is Genesis using for JIT compilation? What subset of Python syntax / operations will be supported? The automatic differentiation seems to be intended for compatibility with Pytorch. Will Genesis be able to interface with JAX as well? The project looks interesting, but the website is somewhat light on details. In any case, all the best to the developers! It's great to hear about various efforts in the space of differentiable simulators.