Use upper Cholesky factors#1355
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thowell
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May 13, 2026
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since this pr upgrades warp to 1.13.0 we can remove this guard? mujoco_warp/mujoco_warp/_src/io.py Line 2817 in 9fca8f7 |
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I can remove the guard, are we ok with defaulting to cuBql for all cases? |
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@StafaH can you comment on the bvh constructor? thanks! |
thowell
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May 15, 2026
| elemid += 1 | ||
| j = mjm.dof_parentid[j] | ||
| m.qM_fullm_elemid = qM_fullm_elemid | ||
| m.qM_fullm_upper_i, m.qM_fullm_upper_j, m.qM_fullm_upper_elemid = [], [], [] |
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how about something like
upper_j, upper_i = np.triu_indices(mjm.nv)
upper_elemids = qM_fullm_elemid[upper_i, upper_j]
valid_mask = upper_elemids != -1
m.qM_fullm_upper_i = list(upper_j[valid_mask])
m.qM_fullm_upper_j = list(upper_i[valid_mask])
m.qM_fullm_upper_elemid = list(upper_elemids[valid_mask])
thowell
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May 15, 2026
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Summary
warp-langdependency to 1.13.This should be net-same for most cases, and positive for cases where the tile size is a power of 2.
Benchmarks
Clean-machine reverify against stable baseline,
three_humanoidswithnworld=8192 nconmax=100 njmax=192:Tests
uv run ruff check mujoco_warp/_src/block_cholesky.py mujoco_warp/_src/forward.py mujoco_warp/_src/io.py mujoco_warp/_src/smooth.py mujoco_warp/_src/solver.py mujoco_warp/_src/types.py mujoco_warp/_src/smooth_test.py mujoco_warp/_src/solver_test.py mujoco_warp/_src/support_test.pyuv run pytest mujoco_warp/_src/solver_test.py::SolverTest::test_qM_fullm_upper_indices_are_row_sorted mujoco_warp/_src/smooth_test.py::SmoothTest::test_factor_m0 mujoco_warp/_src/smooth_test.py::SmoothTest::test_factor_m1 mujoco_warp/_src/smooth_test.py::SmoothTest::test_factor_solve_i0 mujoco_warp/_src/smooth_test.py::SmoothTest::test_factor_solve_i1 mujoco_warp/_src/support_test.py::SupportTest::test_block_cholesky --tb=short -qgit diff --check upstream/main