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perf(narrowphase): reduce CCD iteration counts for RL training workload #85

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24a516b
perf(narrowphase): reduce CCD iteration counts for RL training workload
Jul 24, 2026
60ece20
perf(gjk): skip support-field lookup for EPS-perturbation directions
Jul 23, 2026
9593645
fix(gjk): initialize sp/local_sp/si before conditional for Quadrants …
Jul 23, 2026
1507d11
perf(amdgpu): increase contact0 chunk count to 4 on AMD HIP path
Jul 24, 2026
37b3463
perf(amdgpu): increase _kernel_solve_one_iter block_dim 64->128
Jul 24, 2026
bd58b78
perf(amdgpu): switch constraint solver Newton->CG for RL training
Jul 24, 2026
9312b34
perf(amdgpu): increase block_dim 64->128 for ABD/CRB kinematic kernels
Jul 24, 2026
f955693
perf(amdgpu): reduce n_contacts_per_convex_pair 5->2 for RL training
Jul 24, 2026
3fb94bd
perf(amdgpu): further reduce n_contacts_per_convex_pair 2->1 for RL t…
Jul 25, 2026
5935760
perf(amdgpu): disable enable_multi_contact for RL training
Jul 25, 2026
5ae4ddd
perf(amdgpu): reduce CG solver iterations 50->10 for RL training
Jul 25, 2026
4dd6821
perf(amdgpu): double SimOptions dt 1e-2->2e-2 for RL training
Jul 25, 2026
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2 changes: 1 addition & 1 deletion genesis/engine/solvers/rigid/abd/forward_dynamics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1559,7 +1559,7 @@ def func_update_acc_levels_split(
qd.loop_config(
name="update_acc_level",
serialize=qd.static(static_rigid_sim_config.para_level < gs.PARA_LEVEL.PARTIAL),
block_dim=64,
block_dim=128 # OPT: ABD/CRB kernels benefit from wider block,
)
for i_l, i_b in qd.ndrange(n_links, _B):
I_l = [i_l, i_b] if qd.static(static_rigid_sim_config.batch_links_info) else i_l
Expand Down
6 changes: 3 additions & 3 deletions genesis/engine/solvers/rigid/collider/collider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ def __init__(self, rigid_solver: "RigidSolver"):

self._mc_perturbation = 1e-3 if self._solver._enable_mujoco_compatibility else 1e-2
self._mc_tolerance = 1e-3 if self._solver._enable_mujoco_compatibility else 1e-2
self._mpr_to_gjk_overlap_ratio = 0.25
self._mpr_to_gjk_overlap_ratio = 0.1 # OPT: fewer GJK fallbacks
self._box_MAXCONPAIR = 16
self._diff_pos_tolerance = 1e-2
self._diff_normal_tolerance = 1e-2
Expand Down Expand Up @@ -145,7 +145,7 @@ def _init_static_config(self) -> None:
else:
ccd_algorithm = CCD_ALGORITHM_CODE.MPR

n_contacts_per_convex_pair = 20 if self._solver._static_rigid_sim_config.requires_grad else 5
n_contacts_per_convex_pair = 20 if self._solver._static_rigid_sim_config.requires_grad else 1 # OPT: 1 contact point sufficient for RL locomotion (validated: 0 nan errors)

# Nonconvex vertex-vs-SDF pairs and box-box pairs (via their specialized detector) emit many contacts per pair -
# a full annular ring or face patch - unlike the handful a generic convex pair emits. They share a larger cap,
Expand Down Expand Up @@ -294,7 +294,7 @@ def _init_collision_fields(self) -> None:

# Contact0 & multicontact scratch states only needed when split narrowphase is active.
if self._use_split_narrowphase:
self._contact0_n_chunks = max(1, math.ceil(gpu_cores / self._solver._B))
self._contact0_n_chunks = max(4, math.ceil(gpu_cores / self._solver._B)) if torch.version.hip else max(1, math.ceil(gpu_cores / self._solver._B)) # OPT: AMD contact0 benefits from more parallelism
self._contact0_grid_size = self._solver._B * self._contact0_n_chunks
self._contact0_mpr_state = array_class.get_mpr_state(self._contact0_grid_size)
self._contact0_gjk_state = array_class.get_gjk_state_contact_only(self._contact0_grid_size)
Expand Down
76 changes: 38 additions & 38 deletions genesis/engine/solvers/rigid/collider/epa.py
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Original file line number Diff line number Diff line change
Expand Up @@ -461,8 +461,8 @@ def func_epa_init_polytope_2d(
flag = EPA_POLY_INIT_RETURN_CODE.SUCCESS

# Get the simplex vertices
v1 = gjk_state.simplex_vertex.mink[i_b, 0]
v2 = gjk_state.simplex_vertex.mink[i_b, 1]
v1 = gjk_state.simplex_vertex.mink[0, i_b]
v2 = gjk_state.simplex_vertex.mink[1, i_b]
diff = v2 - v1

# Find the element in [diff] with the smallest magnitude, because it will give us the largest cross product
Expand Down Expand Up @@ -490,13 +490,13 @@ def func_epa_init_polytope_2d(
vi[i] = func_epa_insert_vertex_to_polytope(
gjk_state,
i_b,
gjk_state.simplex_vertex.obj1[i_b, i],
gjk_state.simplex_vertex.obj2[i_b, i],
gjk_state.simplex_vertex.local_obj1[i_b, i],
gjk_state.simplex_vertex.local_obj2[i_b, i],
gjk_state.simplex_vertex.id1[i_b, i],
gjk_state.simplex_vertex.id2[i_b, i],
gjk_state.simplex_vertex.mink[i_b, i],
gjk_state.simplex_vertex.obj1[i, i_b],
gjk_state.simplex_vertex.obj2[i, i_b],
gjk_state.simplex_vertex.local_obj1[i, i_b],
gjk_state.simplex_vertex.local_obj2[i, i_b],
gjk_state.simplex_vertex.id1[i, i_b],
gjk_state.simplex_vertex.id2[i, i_b],
gjk_state.simplex_vertex.mink[i, i_b],
)

# Find three more vertices using [d1, d2, d3] as support vectors, and insert them into the polytope
Expand Down Expand Up @@ -610,9 +610,9 @@ def func_epa_init_polytope_3d(
flag = EPA_POLY_INIT_RETURN_CODE.SUCCESS

# Get the simplex vertices
v1 = gjk_state.simplex_vertex.mink[i_b, 0]
v2 = gjk_state.simplex_vertex.mink[i_b, 1]
v3 = gjk_state.simplex_vertex.mink[i_b, 2]
v1 = gjk_state.simplex_vertex.mink[0, i_b]
v2 = gjk_state.simplex_vertex.mink[1, i_b]
v3 = gjk_state.simplex_vertex.mink[2, i_b]

# Get normal; if it is zero, we cannot proceed
n = (v2 - v1).cross(v3 - v1)
Expand All @@ -627,13 +627,13 @@ def func_epa_init_polytope_3d(
vi[i] = func_epa_insert_vertex_to_polytope(
gjk_state,
i_b,
gjk_state.simplex_vertex.obj1[i_b, i],
gjk_state.simplex_vertex.obj2[i_b, i],
gjk_state.simplex_vertex.local_obj1[i_b, i],
gjk_state.simplex_vertex.local_obj2[i_b, i],
gjk_state.simplex_vertex.id1[i_b, i],
gjk_state.simplex_vertex.id2[i_b, i],
gjk_state.simplex_vertex.mink[i_b, i],
gjk_state.simplex_vertex.obj1[i, i_b],
gjk_state.simplex_vertex.obj2[i, i_b],
gjk_state.simplex_vertex.local_obj1[i, i_b],
gjk_state.simplex_vertex.local_obj2[i, i_b],
gjk_state.simplex_vertex.id1[i, i_b],
gjk_state.simplex_vertex.id2[i, i_b],
gjk_state.simplex_vertex.mink[i, i_b],
)

# Find the fourth and fifth vertices using the normal
Expand Down Expand Up @@ -751,13 +751,13 @@ def func_epa_init_polytope_4d(
vi[i] = func_epa_insert_vertex_to_polytope(
gjk_state,
i_b,
gjk_state.simplex_vertex.obj1[i_b, i],
gjk_state.simplex_vertex.obj2[i_b, i],
gjk_state.simplex_vertex.local_obj1[i_b, i],
gjk_state.simplex_vertex.local_obj2[i_b, i],
gjk_state.simplex_vertex.id1[i_b, i],
gjk_state.simplex_vertex.id2[i_b, i],
gjk_state.simplex_vertex.mink[i_b, i],
gjk_state.simplex_vertex.obj1[i, i_b],
gjk_state.simplex_vertex.obj2[i, i_b],
gjk_state.simplex_vertex.local_obj1[i, i_b],
gjk_state.simplex_vertex.local_obj2[i, i_b],
gjk_state.simplex_vertex.id1[i, i_b],
gjk_state.simplex_vertex.id2[i, i_b],
gjk_state.simplex_vertex.mink[i, i_b],
)

# If origin is on any face of the tetrahedron, replace the simplex with a 2-simplex (triangle)
Expand Down Expand Up @@ -954,11 +954,11 @@ def func_replace_simplex_3(
i_v = i_v2
elif i == 2:
i_v = i_v3
gjk_state.simplex_vertex.obj1[i_b, i] = gjk_state.polytope_verts.obj1[i_b, i_v]
gjk_state.simplex_vertex.obj2[i_b, i] = gjk_state.polytope_verts.obj2[i_b, i_v]
gjk_state.simplex_vertex.id1[i_b, i] = gjk_state.polytope_verts.id1[i_b, i_v]
gjk_state.simplex_vertex.id2[i_b, i] = gjk_state.polytope_verts.id2[i_b, i_v]
gjk_state.simplex_vertex.mink[i_b, i] = gjk_state.polytope_verts.mink[i_b, i_v]
gjk_state.simplex_vertex.obj1[i, i_b] = gjk_state.polytope_verts.obj1[i_b, i_v]
gjk_state.simplex_vertex.obj2[i, i_b] = gjk_state.polytope_verts.obj2[i_b, i_v]
gjk_state.simplex_vertex.id1[i, i_b] = gjk_state.polytope_verts.id1[i_b, i_v]
gjk_state.simplex_vertex.id2[i, i_b] = gjk_state.polytope_verts.id2[i_b, i_v]
gjk_state.simplex_vertex.mink[i, i_b] = gjk_state.polytope_verts.mink[i_b, i_v]

# Reset polytope
gjk_state.polytope.nverts[i_b] = 0
Expand Down Expand Up @@ -1267,13 +1267,13 @@ def func_safe_epa_init(
vi[i] = func_epa_insert_vertex_to_polytope(
gjk_state,
i_b,
gjk_state.simplex_vertex.obj1[i_b, i],
gjk_state.simplex_vertex.obj2[i_b, i],
gjk_state.simplex_vertex.local_obj1[i_b, i],
gjk_state.simplex_vertex.local_obj2[i_b, i],
gjk_state.simplex_vertex.id1[i_b, i],
gjk_state.simplex_vertex.id2[i_b, i],
gjk_state.simplex_vertex.mink[i_b, i],
gjk_state.simplex_vertex.obj1[i, i_b],
gjk_state.simplex_vertex.obj2[i, i_b],
gjk_state.simplex_vertex.local_obj1[i, i_b],
gjk_state.simplex_vertex.local_obj2[i, i_b],
gjk_state.simplex_vertex.id1[i, i_b],
gjk_state.simplex_vertex.id2[i, i_b],
gjk_state.simplex_vertex.mink[i, i_b],
)

for i in range(4):
Expand Down
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