tests.md

Tests on prallel simulation in Genesis

All the tests below are conducted on a desktop with RTX 3080 10GB graphics memory.

Training performance for a basic task

For a go2 walking on the plane task with 4096 envs, the training speed is approximately 1.3x compared to Isaac Gym.

• Training speed in genesis:

• Training speed in isaac gym:

While the graphics memory usage is roughly 1/2 compared to IsaacGym.

• Graphics memory usage in genesis:

• Graphics memory usage in isaac gym:

With this smaller memory usage, it's possible to run more parallel environments, which can further improve the training speed.

Attempts on training a decent policy for simulation and deployment

• Simulation

  For a go2 walking on the plane task, training a policy with 10000 envs for 600 ites(which is 144M steps) takes about 12mins. The play result is as below:

  

• Real Robot

  Also for a go2 walking on the plane task, training policy+explicit estimator with 10000 envs for 1k ites takes about 23mins. Deployment result is as below:

  

Heightfield tests

embedded terrain can't specify difficulty, not practical to use.

Time Test

Compilation takes 2min 45s, with the below params:

Parameter	Value
task	go2
headless	False
num_envs	100
horizontal_scale	0.1
vertical_scale	0.005
terrain_length	6.0
terrain_width	6.0
border_size	5.0
num_rows	4
num_cols	4

for headless=True with other params the same, it takes 2min 30s.

Maybe because that Genesis needs to first compile then execute, it speeds less graphics memory but takes longer time to compile.