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Genesis – a generative physics engine for general-purpose robotics

genesis-world.readthedocs.io

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Re: Genesis – a generative physics engine for general-purpose robotics

#21

Post by forrestthewoods »

reitzensteinm wrote: post #20
forrestthewoods wrote: post #19

The GitHub claims: > Genesis delivers an unprecedented simulation speed -- over 43 million FPS when simulating a Franka robotic arm with a single RTX 4090 (430,000 times faster than real-time). That math works out to… 23.26 nanoseconds per frame. Uhh… no they don’t simulate a robot arm in 23 nanoseconds? That’s literally twice as fast as a single cache miss? They may have an interesting platform. I’m not sure. But so…

It's possible they're executing many simulations in parallel, and counting that. 16k robot arms executing at 3k FPS each is much more reasonable on a 4090. If you're effectively fuzzing for edge cases, this would have value.

Yeah it’s gotta be something like that. The whole claim comes across as rather dishonest. If you’re simulating 16,000 arms at 3000 fps each then say that. Thats great. Be clear and concise with your claims.

Re: Genesis – a generative physics engine for general-purpose robotics

#23

Post by a_t48 »

This looks neat. Single step available - as far as I can tell though, no LIDAR, no wheels? Very arm/vision focused. There’s nothing wrong with that, but robotics encompasses a huge space to simulate, which is why I haven’t yet done my own simulator. Would love a generic simulation engine to plug my framework into, but this is missing a few things I need.

Re: Genesis – a generative physics engine for general-purpose robotics

#25

Post by reitzensteinm »

forrestthewoods wrote: post #21
reitzensteinm wrote: post #20

Earlier quoted context omitted.

It's possible they're executing many simulations in parallel, and counting that. 16k robot arms executing at 3k FPS each is much more reasonable on a 4090. If you're effectively fuzzing for edge cases, this would have value.

Yeah it’s gotta be something like that. The whole claim comes across as rather dishonest. If you’re simulating 16,000 arms at 3000 fps each then say that. Thats great. Be clear and concise with your claims.

Agreed.

Re: Genesis – a generative physics engine for general-purpose robotics

#27

Post by KaiserPro »

etwigg wrote: post #10

In the sizzle reel, the early waterdrop demos are beautiful but seem staged, the later robotics demos look more plausible and very impressive. But referring to all these "4D dynamical worlds" sounds overhyped / scammy - everyone else calls 3D space simulated through time a 3D world. > Genesis's physics engine is developed in pure Python, while being 10-80x faster than existing GPU-accelerated stacks like Isaac Gym an…

> "4D dynamical worlds"

Its a feature of that field of science. I'm currently working in a lab that is doing bunch of things that in papers are described $adjective-AI. In practice its just a slightly hyped, but vaguely agreed upon by consensus in weird science paper english term, or set of terms. (in the same way that guassian splats and totally just point clouds with efficient alpha blending[only slightly more complex, please don't just take my word for it])

You probably understand what this term is meant to describe, but to spell it out gives a bit of insight into _why_ its got such a shite name.

o "4d": because its doing things over time. Normally thats a static scene with a camera flying through it (3D). when you have stuff other than the camera moving, you get an extra dimension, hence 4D.

o "dynamical" (god I hate this) dynamic means that objects in the video are moving around. So you can just used the multiple camera locations to build up a single view of an object or room, you need to account for movement of things in the scene.

o "worlds" to highlight that its not just one room being re-used over and over, its a generator (well its not, but thats for another post) of diverse scenes that can represent many locations around the world.

Re: Genesis – a generative physics engine for general-purpose robotics

#30

Post by mccoyb »

sakras wrote: post #8

Maybe I missed it, but are there any performance numbers? It being 100% implemented in Python makes me very suspicious that this won’t scale to any kind of large robot.

Python is used here to wrap around some sort of kernel compiler (taichi). Not out of the realm of possibility that kernels which are compiled out of Python source code could be placed on device with some sort of minimal runtime (although taichi executes on CPU via LLVM, so maybe not so minimal)
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