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YilingQiao wants to merge 4 commits into from
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Fix bug.

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[DO NOT MERGE] Breakdown constraint solver solving kernel. #2209

Fix bug.
b088bd3
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GitHub Actions / Benchmark Comparison failed Jan 13, 2026 in 0s

Benchmark Comparison

🔴 Regressions detected. See tables below.

Details

Baselines considered: 5 commits

Thresholds: runtime ± 8%, compile ± 16%

Runtime FPS

status env batch_size use_contact_island gjk_collision dtype backend constraint_solver current FPS baseline FPS [last (mean ± std)] (*1) Δ FPS (*2)
🔴 anymal_c 0 False - field cpu - 82 7,967 (7,906 ± 101) -99.0%
🔴 anymal_c 0 False - ndarray cpu - 62 4,014 (3,967 ± 39) -98.5%
🔴 anymal_c 30000 False - field cuda - 1,770,925 16,891,373 (16,893,795 ± 20,424) -89.5%
🔴 anymal_c 30000 False - ndarray cuda - 991,725 11,984,778 (12,066,424 ± 54,074) -91.7%
🔴 box_pyramid_3 4096 False - field cuda - 181,603 342,167 (342,479 ± 617) -46.9%
🔴 box_pyramid_3 4096 False - ndarray cuda - 144,118 308,041 (306,514 ± 2,403) -53.2%
🔴 box_pyramid_4 4096 False - field cuda - 78,832 110,655 (110,579 ± 210) -28.8%
🔴 box_pyramid_4 4096 False - ndarray cuda - 60,279 94,650 (95,145 ± 340) -36.3%
🔴 box_pyramid_5 4096 False - field cuda - 29,042 42,484 (42,559 ± 76) -31.6%
🔴 box_pyramid_5 4096 False - ndarray cuda - 17,638 30,865 (30,899 ± 52) -42.9%
🔴 box_pyramid_6 4096 False False field cuda - 4,482 9,070 (9,065 ± 26) -50.6%
🔴 box_pyramid_6 4096 False False ndarray cuda - 3,275 5,147 (5,170 ± 22) -36.4%
🔴 box_pyramid_6 4096 False True field cuda - 5,990 10,383 (10,361 ± 14) -42.3%
🔴 box_pyramid_6 4096 False True ndarray cuda - 4,327 6,483 (6,454 ± 27) -33.3%
🔴 duck_in_box_easy 30000 False False field cuda - 3,704,184 21,036,318 (20,900,167 ± 154,524) -82.4%
🔴 duck_in_box_easy 30000 False False ndarray cuda - 2,116,876 15,749,158 (15,939,437 ± 107,403) -86.6%
🔴 duck_in_box_easy 30000 False True field cuda - 3,305,435 8,994,061 (8,992,580 ± 7,507) -63.2%
🔴 duck_in_box_easy 30000 False True ndarray cuda - 1,860,576 8,628,643 (8,632,585 ± 18,061) -78.4%
🔴 duck_in_box_hard 0 False - field cpu - 84 5,237 (5,459 ± 134) -98.4%
🔴 duck_in_box_hard 0 False - ndarray cpu - 57 3,070 (3,059 ± 38) -98.1%
🔴 duck_in_box_hard 30000 False False field cuda - 931,039 3,072,450 (3,073,663 ± 2,011) -69.7%
🔴 duck_in_box_hard 30000 False False ndarray cuda - 575,057 2,937,620 (2,944,019 ± 14,127) -80.4%
🔴 duck_in_box_hard 30000 False True field cuda - 768,068 1,774,769 (1,766,462 ± 11,305) -56.7%
🔴 duck_in_box_hard 30000 False True ndarray cuda - 467,873 1,317,043 (1,308,590 ± 11,211) -64.5%
🔴 franka 0 False - field cpu - 85 6,927 (6,906 ± 53) -98.8%
🔴 franka 0 False - ndarray cpu - 58 3,637 (3,590 ± 40) -98.4%
🔴 franka 30000 False False field cuda - 1,200,770 18,550,638 (18,518,362 ± 36,060) -93.5%
🔴 franka 30000 False False ndarray cuda - 656,690 14,035,676 (14,092,221 ± 61,528) -95.3%
🔴 franka 30000 False True field cuda - 1,158,181 11,747,304 (11,674,510 ± 61,943) -90.1%
🔴 franka 30000 False True ndarray cuda - 634,525 8,044,110 (8,147,287 ± 63,822) -92.1%
🔴 franka 30000 False - field cuda CG 1,206,130 21,063,312 (20,998,232 ± 96,170) -94.3%
🔴 franka 30000 False - field cuda Newton 1,200,043 18,466,221 (18,458,455 ± 30,868) -93.5%
🔴 franka 30000 False - ndarray cuda CG 655,858 15,417,750 (15,605,488 ± 106,995) -95.7%
🔴 franka 30000 False - ndarray cuda Newton 659,032 14,032,654 (14,063,081 ± 57,991) -95.3%
🔴 franka_accessors 0 False - field cpu - 62 1,864 (1,935 ± 45) -96.7%
🔴 franka_accessors 0 False - ndarray cpu - 55 1,472 (1,459 ± 19) -96.3%
🔴 franka_accessors 30000 False - field cuda - 1,098,233 7,437,586 (19,992,604 ± 7,019,061) -85.2%
🔴 franka_accessors 30000 False - ndarray cuda - 611,499 6,287,544 (14,137,740 ± 4,393,020) -90.3%
🔴 franka_free 30000 False - field cuda - 1,251,811 38,032,910 (38,115,069 ± 176,258) -96.7%
🔴 franka_free 30000 False - ndarray cuda - 665,514 24,756,672 (24,766,082 ± 37,663) -97.3%
🔴 go2 4096 False False field cuda CG 474,935 3,108,543 (3,111,965 ± 10,478) -84.7%
🔴 go2 4096 False False field cuda Newton 503,724 3,340,863 (3,318,833 ± 18,382) -84.9%
🔴 go2 4096 False False ndarray cuda CG 265,048 2,139,201 (2,145,567 ± 11,753) -87.6%
🔴 go2 4096 False False ndarray cuda Newton 278,824 2,305,419 (2,309,175 ± 8,266) -87.9%
🔴 go2 4096 False True field cuda - 549,105 2,320,799 (2,314,301 ± 10,626) -76.3%
🔴 go2 4096 False True ndarray cuda - 264,617 1,567,123 (1,581,135 ± 8,714) -83.1%
🔴 random 30000 False - field cuda - 1,424,717 5,696,837 (5,874,914 ± 100,475) -75.0%
🔴 random 30000 False - ndarray cuda - 843,068 4,327,163 (4,467,561 ± 79,379) -80.5%

Compile Time

status env batch_size use_contact_island gjk_collision dtype backend constraint_solver current compile baseline compile [last (mean ± std)] (*1) Δ compile (*2)
✅ anymal_c 0 False - field cpu - 61.60 55.93 (58.34 ± 1.90) +10.1%
✅ anymal_c 0 False - ndarray cpu - 36.50 35.15 (34.98 ± 0.41) +3.8%
✅ anymal_c 30000 False - field cuda - 65.80 67.60 (66.64 ± 2.34) -2.7%
✅ anymal_c 30000 False - ndarray cuda - 44.70 41.68 (42.61 ± 0.91) +7.3%
✅ box_pyramid_3 4096 False - field cuda - 61.80 60.45 (62.94 ± 1.59) +2.2%
✅ box_pyramid_3 4096 False - ndarray cuda - 38.30 38.76 (38.93 ± 0.83) -1.2%
✅ box_pyramid_4 4096 False - field cuda - 61.90 66.98 (66.77 ± 6.05) -7.6%
✅ box_pyramid_4 4096 False - ndarray cuda - 39.20 37.80 (37.70 ± 0.79) +3.7%
✅ box_pyramid_5 4096 False - field cuda - 61.50 69.15 (66.53 ± 4.45) -11.1%
✅ box_pyramid_5 4096 False - ndarray cuda - 37.70 37.23 (37.21 ± 0.81) +1.3%
✅ box_pyramid_6 4096 False False field cuda - 65.30 64.23 (61.23 ± 1.73) +1.7%
✅ box_pyramid_6 4096 False False ndarray cuda - 44 40 (41 ± 0) +7.7%
✅ box_pyramid_6 4096 False True field cuda - 41.10 38.90 (38.00 ± 0.56) +5.7%
✅ box_pyramid_6 4096 False True ndarray cuda - 28.20 28.08 (27.81 ± 0.35) +0.4%
✅ duck_in_box_easy 30000 False False field cuda - 66.80 67.07 (64.01 ± 2.20) -0.4%
✅ duck_in_box_easy 30000 False False ndarray cuda - 40.10 39.06 (38.51 ± 0.57) +2.7%
✅ duck_in_box_easy 30000 False True field cuda - 39.50 39.96 (39.12 ± 0.80) -1.2%
✅ duck_in_box_easy 30000 False True ndarray cuda - 25.70 25.66 (25.63 ± 0.66) +0.2%
✅ duck_in_box_hard 0 False - field cpu - 55.50 56.72 (56.87 ± 1.80) -2.1%
✅ duck_in_box_hard 0 False - ndarray cpu - 32.60 33.14 (32.56 ± 0.46) -1.6%
✅ duck_in_box_hard 30000 False False field cuda - 64.30 62.25 (62.65 ± 1.79) +3.3%
✅ duck_in_box_hard 30000 False False ndarray cuda - 36.80 38.51 (36.87 ± 1.05) -4.4%
✅ duck_in_box_hard 30000 False True field cuda - 37.80 36.68 (37.47 ± 0.85) +3.0%
✅ duck_in_box_hard 30000 False True ndarray cuda - 24 25 (23 ± 1) -7.0%
✅ franka 0 False - field cpu - 58.10 55.65 (54.78 ± 2.62) +4.4%
✅ franka 0 False - ndarray cpu - 32.50 30.84 (31.55 ± 0.50) +5.4%
✅ franka 30000 False False field cuda - 59.80 65.02 (62.68 ± 2.46) -8.0%
✅ franka 30000 False False ndarray cuda - 39.70 36.84 (36.79 ± 0.59) +7.8%
✅ franka 30000 False True field cuda - 39.90 36.86 (36.27 ± 0.84) +8.3%
✅ franka 30000 False True ndarray cuda - 27 26 (25 ± 0) +2.8%
✅ franka 30000 False - field cuda CG 68.10 66.16 (63.46 ± 2.32) +2.9%
✅ franka 30000 False - field cuda Newton 73.10 74.49 (65.70 ± 4.98) -1.9%
✅ franka 30000 False - ndarray cuda CG 41.50 41.54 (41.41 ± 0.72) -0.1%
✅ franka 30000 False - ndarray cuda Newton 38.10 37.52 (37.66 ± 0.58) +1.6%
✅ franka_accessors 0 False - field cpu - 55.90 60.46 (63.30 ± 11.52) -7.5%
✅ franka_accessors 0 False - ndarray cpu - 31.40 32.21 (31.93 ± 0.66) -2.5%
✅ franka_accessors 30000 False - field cuda - 62 62 (62 ± 1) -0.6%
✅ franka_accessors 30000 False - ndarray cuda - 37.60 37.06 (36.90 ± 0.54) +1.5%
✅ franka_free 30000 False - field cuda - 61.20 62.17 (61.54 ± 1.91) -1.6%
✅ franka_free 30000 False - ndarray cuda - 40 38 (39 ± 1) +3.2%
✅ go2 4096 False False field cuda CG 74.90 70.32 (64.79 ± 3.99) +6.5%
✅ go2 4096 False False field cuda Newton 61.70 61.96 (60.39 ± 2.76) -0.4%
✅ go2 4096 False False ndarray cuda CG 39.40 37.17 (38.06 ± 0.71) +6.0%
✅ go2 4096 False False ndarray cuda Newton 37.90 37.92 (38.29 ± 0.67) -0.0%
✅ go2 4096 False True field cuda - 44 43 (42 ± 0) +1.9%
✅ go2 4096 False True ndarray cuda - 31.50 31.66 (30.46 ± 0.98) -0.5%
✅ random 30000 False - field cuda - 66.70 68.73 (68.45 ± 4.72) -3.0%
✅ random 30000 False - ndarray cuda - 39.20 39.87 (39.49 ± 1.24) -1.7%
  • (*1) last: last commit on main, mean/std: stats over revs 5 commits if available.
  • (*2) Δ: relative difference between PR and last commit on main, i.e. (PR - main) / main * 100%.

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