diff --git a/.github/workflows/examples.yml b/.github/workflows/examples.yml
deleted file mode 100644
index 14df548019..0000000000
--- a/.github/workflows/examples.yml
+++ /dev/null
@@ -1,81 +0,0 @@
-name: Examples (CPU)
-
-on:
-  pull_request:
-    branches:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  run-examples:
-    runs-on: ubuntu-24.04
-    name: ubuntu-24.04-3.12-examples
-
-    env:
-      HF_HUB_DOWNLOAD_TIMEOUT: 60
-      FORCE_COLOR: 1
-      PY_COLORS: 1
-      GS_CACHE_FILE_PATH: ".cache/genesis"
-      TI_OFFLINE_CACHE: "1"
-      TI_OFFLINE_CACHE_CLEANING_POLICY: "never"
-      TI_OFFLINE_CACHE_FILE_PATH: ".cache/taichi"
-      TI_ENABLE_CUDA: "0"
-      TI_ENABLE_METAL: "0"
-      TI_ENABLE_OPENGL: "0"
-      TI_ENABLE_VULKAN: "0"
-      TI_DEBUG: "0"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 1
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: "3.12"
-
-      - name: Install Mesa OpenGL driver for headless rendering
-        run: |
-          sudo apt-get update
-          sudo apt install -y \
-              libglu1-mesa \
-              libegl-mesa0 \
-              libgl1-mesa-dev
-
-      - name: Install Python deps
-        run: |
-          pip install --upgrade pip setuptools wheel
-          pip install torch --index-url https://download.pytorch.org/whl/cpu
-          pip install -e '.[dev]' pynput
-
-      - name: Get gstaichi version
-        id: gstaichi_version
-        shell: bash
-        run: |
-          GSTAICHI_VERSION=$(python -c "import importlib.metadata ; print(importlib.metadata.version('gstaichi'))")
-          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}"
-          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}" >> $GITHUB_OUTPUT
-
-      - name: Restore cache
-        uses: actions/cache/restore@v4
-        with:
-          path: .cache
-          key: ubuntu-24.04-3.12-examples-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}
-          restore-keys: |
-            ubuntu-24.04-3.12-examples-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}-
-
-      - name: Run examples suite
-        run: |
-          pytest -v -m examples tests/test_examples.py
-
-      - name: Save cache
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: .cache
-          key: ubuntu-24.04-3.12-examples-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}-${{ github.run_id }}-${{ github.run_attempt }}
diff --git a/.github/workflows/generic.yml b/.github/workflows/generic.yml
deleted file mode 100644
index 22d42d3172..0000000000
--- a/.github/workflows/generic.yml
+++ /dev/null
@@ -1,175 +0,0 @@
-name: Generic
-
-on:
-  pull_request:
-    branches:
-      - main
-  release:
-    branches:
-      - main
-    types: [published]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
-jobs:
-  generic-cpu:
-    name: ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }}-${{ matrix.GS_BACKEND }}-${{ matrix.GS_USE_NDARRAY == '1' && 'ndarray' || 'field' }}
-
-    strategy:
-      fail-fast: false
-      matrix:
-        # See official Github documentation for details: https://shorturl.at/NJgsj
-        OS: ["ubuntu-22.04", "ubuntu-24.04", "macos-15"]
-        PYTHON_VERSION: ["3.10", "3.11", "3.12", "3.13"]
-        GS_BACKEND: ["cpu"]
-        GS_USE_NDARRAY: ["0"]
-        include:
-          - OS: "windows-2025"
-            PYTHON_VERSION: "3.12"
-            GS_BACKEND: "cpu"
-            GS_USE_NDARRAY: "0"
-          - OS: "macos-15"
-            PYTHON_VERSION: "3.12"
-            GS_BACKEND: "gpu"
-            GS_USE_NDARRAY: "0"
-          - OS: "ubuntu-24.04"
-            PYTHON_VERSION: "3.12"
-            GS_BACKEND: "cpu"
-            GS_USE_NDARRAY: "1"
-
-    env:
-      HF_HUB_DOWNLOAD_TIMEOUT: 60
-      FORCE_COLOR: 1
-      PY_COLORS: 1
-      GS_CACHE_FILE_PATH: ".cache/genesis"
-      GS_USE_NDARRAY: ${{ matrix.GS_USE_NDARRAY }}
-      GS_BETA_PURE: ${{ matrix.GS_USE_NDARRAY }} # we turn on beta pure for ndarray
-      GS_TORCH_FORCE_CPU_DEVICE: "1"
-      TI_OFFLINE_CACHE: "1"
-      TI_OFFLINE_CACHE_CLEANING_POLICY: "never"
-      TI_OFFLINE_CACHE_FILE_PATH: ".cache/taichi"
-      TI_ENABLE_CUDA: "0"
-      TI_ENABLE_METAL: "1"
-      TI_ENABLE_OPENGL: "0"
-      TI_ENABLE_VULKAN: "0"
-      TI_DEBUG: "0"
-
-    runs-on: ${{ matrix.OS }}
-    if: github.event_name != 'release'
-
-    steps:
-      - name: Print system information (Windows)
-        if: startsWith(matrix.OS, 'windows-')
-        shell: pwsh
-        run: |
-          $cpu = Get-CimInstance -ClassName Win32_Processor
-          $ram = Get-CimInstance -ClassName Win32_ComputerSystem
-          [PSCustomObject]@{
-              CPU_Name                 = $cpu.Name
-              Physical_Cores           = ($cpu | Measure-Object -Property NumberOfCores -Sum).Sum
-              Logical_Processors       = ($cpu | Measure-Object -Property NumberOfLogicalProcessors -Sum).Sum
-              Total_RAM_GB             = [math]::Round($ram.TotalPhysicalMemory / 1GB, 2)
-          }
-
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 1
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.PYTHON_VERSION }}
-
-      - name: Install system dependencies (Windows)
-        if: startsWith(matrix.OS, 'windows-')
-        shell: bash
-        run: |
-          curl -L -o mesa.7z https://github.com/pal1000/mesa-dist-win/releases/download/25.1.5/mesa3d-25.1.5-release-msvc.7z
-          7z x mesa.7z -omesa
-          mv -v mesa/x64/* /C/Windows/System32/
-
-      - name: Install Mesa 25 OpenGL driver (Linux)
-        if: startsWith(matrix.OS, 'ubuntu-')
-        run: |
-          sudo add-apt-repository -y ppa:kisak/kisak-mesa
-          sudo apt-get update
-          sudo apt install -y \
-              libglu1-mesa \
-              libegl-mesa0 \
-              libgl1-mesa-dev
-      - name: Install python dependencies
-        run: |
-          pip install --upgrade pip setuptools pkg-info wheel
-          pip3 install torch --index-url https://download.pytorch.org/whl/cpu
-
-      - name: Black Format Check
-        if: matrix.OS == 'ubuntu-22.04' && matrix.PYTHON_VERSION == '3.12'
-        run: |
-          pip install black
-          black --line-length 120 --check .
-
-      - name: Install Genesis
-        run: |
-          pip install -e '.[dev]'
-
-      - name: Get gstaichi version
-        id: gstaichi_version
-        shell: bash
-        run: |
-          GSTAICHI_VERSION=$(python -c "import importlib.metadata ; print(importlib.metadata.version('gstaichi'))")
-          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}"
-          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}" >> $GITHUB_OUTPUT
-
-      - name: Restore Taichi Kernel Cache
-        if: always()
-        uses: actions/cache/restore@v4
-        with:
-          path: .cache
-          key: ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }}-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}
-          restore-keys: |
-            ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }}-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}-
-
-      - name: Run unit tests
-        run: |
-          pytest -v --logical --dev --backend ${{ matrix.GS_BACKEND }} --forked -m required ./tests
-
-      - name: Save Updated Taichi Kernel Cache
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: .cache
-          # Note that it is necessary to create a new archive systematically for now:
-          # See: https://github.com/actions/cache/issues/1594
-          key: ${{ matrix.OS }}-${{ matrix.PYTHON_VERSION }}-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}-${{ github.run_id }}-${{ github.run_attempt }}
-
-  publish-pypi:
-    name: Publish on PyPI
-    runs-on: ubuntu-24.04
-    permissions:
-      id-token: write
-    environment:
-      name: advance
-
-    if: github.event_name == 'release'
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 1
-
-      - name: Build wheels
-        run: |
-          pip wheel --no-deps . -w wheelhouse
-
-      - name: Publish the wheels on PyPI
-        uses: pypa/gh-action-pypi-publish@v1.12.4
-        with:
-          packages-dir: wheelhouse
-          verify-metadata: true
-          attestations: true
-          print-hash: true
-          skip-existing: true
diff --git a/.github/workflows/gpu_on_github.yml b/.github/workflows/gpu_on_github.yml
new file mode 100644
index 0000000000..fa3dbdb8cb
--- /dev/null
+++ b/.github/workflows/gpu_on_github.yml
@@ -0,0 +1,77 @@
+name: gpu_on_github
+
+on:
+  # Trigger the workflow on push on the master branch, or for any pull request
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+concurrency:
+  # Cancel all workflows that are stil running if any when updating branches associated with PRs,
+  # BUT don't do anything for workflows that are not triggered by PRs.
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  linux-gpu:
+    # run on github gpu runner
+    runs-on: gpu-t4-4-core
+
+    env:
+      # Note that secrets are not passed to workflows that are triggered by a pull request from a fork
+      HF_HUB_DOWNLOAD_TIMEOUT: 60
+      FORCE_COLOR: 1
+      PY_COLORS: 1
+      MADRONA_DISABLE_CUDA_HEAP_SIZE: "1"
+      OMNI_KIT_ACCEPT_EULA: "yes"
+      OMNI_KIT_ALLOW_ROOT: "1"
+      GS_BACKEND: "gpu"
+      GS_USE_NDARRAY: "0"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install python dependencies
+        run: |
+          pip install --upgrade pip setuptools pkg-info wheel
+          pip install torch
+
+      - name: Install Genesis
+        run: |
+          pip install -e '.[dev]'
+
+      - name: Get gstaichi version
+        id: gstaichi_version
+        shell: bash
+        run: |
+          GSTAICHI_VERSION=$(python -c "import importlib.metadata ; print(importlib.metadata.version('gstaichi'))")
+          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}"
+          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}" >> $GITHUB_OUTPUT
+
+      - name: Restore Taichi Kernel Cache
+        if: always()
+        uses: actions/cache/restore@v4
+        with:
+          path: .cache
+          key: ubuntu-24.04-3.10-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}
+          restore-keys: |
+            ubuntu-24.04-3.10-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}-
+
+      - name: Run unit tests
+        if: github.event_name == 'pull_request'
+        run: |
+          pip install --no-input --extra-index-url https://pypi.nvidia.com/ omniverse-kit
+          pip install --no-input ".[dev,render,usd]"
+
+          pytest -v --backend gpu --dev -n 1 -m required --forked --logical "tests/test_rigid_physics.py"
diff --git a/.github/workflows/production.yml b/.github/workflows/production.yml
deleted file mode 100644
index 1a56d36386..0000000000
--- a/.github/workflows/production.yml
+++ /dev/null
@@ -1,128 +0,0 @@
-name: Production
-
-on:
-  # Trigger the workflow on push on the master branch, or for any pull request
-  push:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-
-concurrency:
-  # Cancel all workflows that are stil running if any when updating branches associated with PRs,
-  # BUT don't do anything for workflows that are not triggered by PRs.
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
-jobs:
-  linux-gpu:
-    runs-on: [self-hosted, coreweave, genesis-world]
-
-    env:
-      # Note that secrets are not passed to workflows that are triggered by a pull request from a fork
-      WANDB_API_KEY: ${{ secrets.WANDB_API_KEY }}
-      HF_TOKEN: ${{ secrets.HF_TOKEN }}
-      HF_HUB_DOWNLOAD_TIMEOUT: 60
-      GENESIS_IMAGE_VER: "1_5"
-      TIMEOUT_MINUTES: 180
-      FORCE_COLOR: 1
-      PY_COLORS: 1
-      MADRONA_DISABLE_CUDA_HEAP_SIZE: "1"
-      OMNI_KIT_ACCEPT_EULA: "yes"
-      OMNI_KIT_ALLOW_ROOT: "1"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          # Checkout full history is required to shallow cloning while mark HEAD as "grafted". This breaks remote
-          # tracking thereby making it impossible to detect whether a commit is contained in upstream main.
-          fetch-depth: 0
-
-      - name: Run unit tests
-        if: github.event_name == 'pull_request'
-        run: |
-          SLURM_JOB_NAME="$(uuidgen)_$(date +%Y%m%d_%H%M%S)"
-          echo "SLURM_JOB_NAME=${SLURM_JOB_NAME}" >> $GITHUB_ENV
-
-          mkdir -p "${HOME}/.cache" "${HOME}/.venv"
-
-          # TODO: USD baking does not currently support Python 3.11 since
-          # NVIDIA does not currently release `omniverse-kit==107.3` on PyPI.
-          # See: https://github.com/Genesis-Embodied-AI/Genesis/pull/1300
-          srun \
-            --container-image="/mnt/data/images/genesis-v${GENESIS_IMAGE_VER}.sqsh" \
-            --container-mounts=\
-          "${HOME}/.venv":/root/.venv,\
-          "${HOME}/.cache":/root/.cache,\
-          "${{ github.workspace }}":/root/workspace \
-            --no-container-mount-home --container-workdir=/root/workspace \
-            --export=NVIDIA_DRIVER_CAPABILITIES=all,HF_TOKEN,BASH_ENV=/root/.bashrc \
-            --partition=hpc-mid --exclusive --nodes=1 --time="${TIMEOUT_MINUTES}" \
-            --job-name=${SLURM_JOB_NAME} \
-            bash -e -s << 'EOF'
-              if test -n "$(find /root/.venv -maxdepth 0 -empty)"; then
-                python3 -m venv --system-site-packages /root/.venv
-                source /root/.venv/bin/activate
-                pip install --no-input --upgrade pip pkg-info wheel
-                pip install --no-input --ignore-installed --upgrade blinker pyparsing setuptools
-              fi
-              source /root/.venv/bin/activate
-
-              pip install --no-input --extra-index-url https://pypi.nvidia.com/ omniverse-kit
-              pip install --no-input ".[dev,render,usd]"
-
-              pytest -v --backend gpu --dev --forked ./tests
-          EOF
-      - name: Run benchmarks
-        run: |
-          SLURM_JOB_NAME="$(uuidgen)_$(date +%Y%m%d_%H%M%S)"
-          echo "SLURM_JOB_NAME=${SLURM_JOB_NAME}" >> $GITHUB_ENV
-
-          SLURM_ENV_VARS="NVIDIA_DRIVER_CAPABILITIES=all,HF_TOKEN,BASH_ENV=/root/.bashrc"
-          if [[ "${{ github.repository }}" == 'Genesis-Embodied-AI/Genesis' && "${{ github.ref }}" == 'refs/heads/main' ]] ; then
-            SLURM_ENV_VARS="${SLURM_ENV_VARS},WANDB_API_KEY"
-          fi
-
-          srun \
-            --container-image="/mnt/data/images/genesis-v${GENESIS_IMAGE_VER}.sqsh" \
-            --container-mounts=\
-          "${HOME}/.venv":/root/.venv,\
-          /mnt/data/artifacts:/mnt/data/artifacts,\
-          "${{ github.workspace }}":/root/workspace \
-            --no-container-mount-home --container-workdir=/root/workspace \
-            --export=${SLURM_ENV_VARS} \
-            --partition=hpc-mid --exclusive --nodes=1 --time="${TIMEOUT_MINUTES}" \
-            --job-name=${SLURM_JOB_NAME} \
-            bash -e -s << 'EOF'
-              # sudo apt update
-              # sudo apt install -y tmate
-              # tmate -S /tmp/tmate.sock new-session -d
-              # tmate -S /tmp/tmate.sock wait tmate-ready
-              # tmate -S /tmp/tmate.sock display -p '#{tmate_ssh}'
-
-              source /root/.venv/bin/activate
-              pip install --no-input ".[dev,render]"
-
-              pytest --print -x -m "benchmarks" ./tests
-              cat speed_test*.txt > "/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt"
-
-              # tmate -S /tmp/tmate.sock wait tmate-exit
-          EOF
-      - name: Kill srun job systematically
-        if: always()
-        run: |
-          if [ -n "${SLURM_JOB_NAME}" ] ; then
-            scancel --user=${USER} --name="${SLURM_JOB_NAME}"
-          fi
-
-      - name: Display benchmark stats
-        run: |
-          cat "/mnt/data/artifacts/speed_test_${SLURM_JOB_NAME}.txt"
-
-      - name: Upload benchmark stats as artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: speed-test-results
-          path: "/mnt/data/artifacts/speed_test_${{ env.SLURM_JOB_NAME }}.txt"