[MISC] Enforce autograd cases not using cuda graph#2633
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erizmr wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
Closed
[MISC] Enforce autograd cases not using cuda graph#2633erizmr wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
erizmr wants to merge 1 commit intoGenesis-Embodied-AI:mainfrom
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🔴 Benchmark Regression Detected ➡️ Report |
duburcqa
reviewed
Apr 1, 2026
| is_compatible=lambda *args, **kwargs: _get_static_config(*args, **kwargs).prefer_parallel_linesearch != 1 | ||
| is_compatible=lambda *args, **kwargs: ( | ||
| _get_static_config(*args, **kwargs).prefer_parallel_linesearch != 1 | ||
| or _get_static_config(*args, **kwargs).requires_grad |
Collaborator
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Do not change this condition. At this point, it is only about prefer_parallel_linesearch. Nothing to do with requiring grad or not. Each variant must specify its own restrictions for compatibility. Nothing more. Nothing else.
duburcqa
reviewed
Apr 1, 2026
| rigid_global_info, | ||
| static_rigid_sim_config, | ||
| _n_iterations: not static_rigid_sim_config.requires_grad | ||
| and static_rigid_sim_config.backend != gs.cpu |
Collaborator
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Are you sure this kernel does not run on CPU? If it runs on CPU, there is no reason to exclude it here.
duburcqa
reviewed
Apr 1, 2026
| @func_solve_body.register( | ||
| is_compatible=lambda *args, **kwargs: _get_static_config(*args, **kwargs).prefer_parallel_linesearch != 1 | ||
| is_compatible=lambda *args, **kwargs: ( | ||
| _get_static_config(*args, **kwargs).prefer_parallel_linesearch != 1 |
Collaborator
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You must update how prefer_parallel_linesearch is computed:
def _build_static_config(self):
prefer_parallel_linesearch = self._options.prefer_parallel_linesearch
# FIXME: Enable gs.metal once Quadrants supports shared memory atomics on Apple Metal.
if gs.backend in (gs.cpu, gs.metal) or self._enable_mujoco_compatibility or self.sim.options.requires_grad:
prefer_parallel_linesearch = False
Collaborator
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Superseded by #2635 |
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Description
Related Issue
Resolves Genesis-Embodied-AI/Genesis#
Motivation and Context
How Has This Been / Can This Be Tested?
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Submitting Code Changessection of CONTRIBUTING document.