[MISC] Constraint solver func init optimization#2521
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erizmr wants to merge 5 commits intoGenesis-Embodied-AI:mainfrom
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[MISC] Constraint solver func init optimization#2521erizmr wants to merge 5 commits intoGenesis-Embodied-AI:mainfrom
erizmr wants to merge 5 commits intoGenesis-Embodied-AI:mainfrom
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Convert func_solve_init from a plain @qd.kernel to a @qd.perf_dispatch, and register func_solve_init_decomposed for CUDA backend. This breaks the monolithic init into 8 separate kernel launches: 1. _kernel_init_warmstart (warmstart selection, ndrange dofs) 2. _kernel_init_Ma (Ma = M @ qacc, ndrange dofs) 3. _kernel_init_Jaref (Jaref = -aref + J @ qacc, ndrange constraints) 4. _kernel_init_improved (set improved flags) 5. _kernel_init_update_constraint (wraps monolith for FP match) 6. Newton hessian (conditional, reuses existing kernel) 7. _kernel_init_update_gradient (wraps monolith tiled gradient) 8. _kernel_init_search (search = -Mgrad, ndrange dofs) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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duburcqa
previously approved these changes
Mar 12, 2026
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this is missing benchmark comparison right? |
duburcqa
dismissed
their stale review
Waiting for more information about the performance benchmark.
|
🔴 Benchmark Regression Detected ➡️ Report |
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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.