From d4c387c56203254525f686d05dbbe05b22378eef Mon Sep 17 00:00:00 2001 From: Hugh Perkins Date: Wed, 25 Mar 2026 04:20:42 -0700 Subject: [PATCH 1/2] Fix wandb >=0.25 compatibility in alarm wandb 0.22.1+ defaults to lazy=True for api.runs(), returning empty config dicts until a run is explicitly loaded. This broke the config["revision"] lookup in alarm.py. Adding lazy=False restores eager loading and works on all wandb versions, so the <0.25 pin is no longer needed. Made-with: Cursor --- .github/workflows/alarm.yml | 4 +- .github/workflows/scripts/alarm.py | 2 +- ...summary_g1_fall-Newton-None-4096-gpu_0.txt | 48 + speed_test-gw0.txt | 1 + speed_test.txt | 1 + trace_g1_fall-Newton-None-4096-gpu_0.json | 29980 ++++++++++++++++ 6 files changed, 30032 insertions(+), 4 deletions(-) create mode 100644 profile_summary_g1_fall-Newton-None-4096-gpu_0.txt create mode 100644 speed_test-gw0.txt create mode 100644 speed_test.txt create mode 100644 trace_g1_fall-Newton-None-4096-gpu_0.json diff --git a/.github/workflows/alarm.yml b/.github/workflows/alarm.yml index 050c5e8020..4ba8ec25d4 100644 --- a/.github/workflows/alarm.yml +++ b/.github/workflows/alarm.yml @@ -31,9 +31,7 @@ jobs: - name: Install deps run: | - # Pin wandb<0.25: 0.25.x changed api.runs() to no longer populate - # run.config in batch queries, breaking alarm.py's config["revision"] lookup. - python -m pip install --quiet --upgrade 'wandb<0.25' frozendict + python -m pip install --quiet --upgrade wandb frozendict - name: Download speed artifacts from triggering run id: dl_speed diff --git a/.github/workflows/scripts/alarm.py b/.github/workflows/scripts/alarm.py index 3fdd8ec0e1..e11c099080 100644 --- a/.github/workflows/scripts/alarm.py +++ b/.github/workflows/scripts/alarm.py @@ -285,7 +285,7 @@ def fetch_wandb_data( wandb_parser: WandbParser, ) -> dict[str, dict[frozendict[str, str], dict[str, float | int]]]: api = wandb.Api() - runs_iter: Iterable[Run] = api.runs(f"{self.wandb_entity}/{wandb_parser.project}", order="-created_at") + runs_iter: Iterable[Run] = api.runs(f"{self.wandb_entity}/{wandb_parser.project}", order="-created_at", lazy=False) commit_hashes = set() records_by_commit_hash: dict[str, dict[frozendict[str, str], dict[str, float | int]]] = defaultdict( diff --git a/profile_summary_g1_fall-Newton-None-4096-gpu_0.txt b/profile_summary_g1_fall-Newton-None-4096-gpu_0.txt new file mode 100644 index 0000000000..0f50ea3510 --- /dev/null +++ b/profile_summary_g1_fall-Newton-None-4096-gpu_0.txt @@ -0,0 +1,48 @@ +=== Kernel Summary (sorted by cuda_time_total) === +------------------------------------------------------- ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ + Name Self CPU % Self CPU CPU total % CPU total CPU time avg Self CUDA Self CUDA % CUDA total CUDA time avg # of Calls +------------------------------------------------------- ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ + ProfilerStep* 0.00% 0.000us 0.00% 0.000us 0.000us 8.151ms 110.27% 8.151ms 8.151ms 1 + _kernel_linesearch_c486_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 1.370ms 18.54% 1.370ms 137.014us 10 + func_broad_phase_c400_0_kernel_2_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 866.432us 11.72% 866.432us 866.432us 1 +add_inequality_constraints_c466_0_kernel_3_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 708.416us 9.58% 708.416us 708.416us 1 +_kernel_newton_only_nt_hessian_c496_0_kernel_1_range... 0.00% 0.000us 0.00% 0.000us 0.000us 651.389us 8.81% 651.389us 65.139us 10 +_kernel_newton_only_nt_hessian_c496_0_kernel_3_range... 0.00% 0.000us 0.00% 0.000us 0.000us 505.184us 6.83% 505.184us 50.518us 10 + _kernel_update_gradient_c498_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 410.978us 5.56% 410.978us 41.098us 10 + kernel_step_1_c502_0_kernel_5_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 408.960us 5.53% 408.960us 408.960us 1 +_kernel_update_constraint_cost_c494_0_kernel_1_range... 0.00% 0.000us 0.00% 0.000us 0.000us 244.064us 3.30% 244.064us 24.406us 10 + kernel_step_2_c504_0_kernel_9_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 232.928us 3.15% 232.928us 232.928us 1 + func_solve_init_c472_0_kernel_7_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 175.264us 2.37% 175.264us 175.264us 1 + func_solve_init_c472_0_kernel_5_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 159.680us 2.16% 159.680us 159.680us 1 +_kernel_update_constraint_forces_c490_0_kernel_1_ran... 0.00% 0.000us 0.00% 0.000us 0.000us 148.928us 2.01% 148.928us 14.893us 10 + kernel_step_1_c502_0_kernel_10_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 146.432us 1.98% 146.432us 146.432us 1 + func_solve_init_c472_0_kernel_10_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 138.240us 1.87% 138.240us 138.240us 1 + func_solve_init_c472_0_kernel_12_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 131.840us 1.78% 131.840us 131.840us 1 + func_sort_contacts_c408_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 116.032us 1.57% 116.032us 116.032us 1 + func_solve_init_c472_0_kernel_16_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 104.512us 1.41% 104.512us 104.512us 1 +_kernel_update_constraint_qfrc_c492_0_kernel_1_range... 0.00% 0.000us 0.00% 0.000us 0.000us 88.385us 1.20% 88.385us 8.838us 10 +_kernel_update_search_direction_c500_0_kernel_1_rang... 0.00% 0.000us 0.00% 0.000us 0.000us 74.527us 1.01% 74.527us 7.453us 10 + kernel_step_2_c504_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 61.568us 0.83% 61.568us 61.568us 1 +add_inequality_constraints_c466_0_kernel_5_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 58.816us 0.80% 58.816us 58.816us 1 + kernel_step_1_c502_0_kernel_25_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 54.432us 0.74% 54.432us 54.432us 1 +_func_narrowphase_multicontact_mixed_c412_0_kernel_0... 0.00% 0.000us 0.00% 0.000us 0.000us 49.440us 0.67% 49.440us 24.720us 2 + Memcpy HtoD (Pageable -> Device) 0.00% 0.000us 0.00% 0.000us 0.000us 47.299us 0.64% 47.299us 0.556us 85 +_func_narrowphase_contact0_c418_0_kernel_1_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 38.240us 0.52% 38.240us 38.240us 1 + kernel_step_2_c504_0_kernel_10_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 28.928us 0.39% 28.928us 28.928us 1 + kernel_step_1_c502_0_kernel_3_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 27.424us 0.37% 27.424us 27.424us 1 + kernel_step_1_c502_0_kernel_17_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 19.968us 0.27% 19.968us 19.968us 1 + kernel_step_1_c502_0_kernel_12_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 18.912us 0.26% 18.912us 18.912us 1 + func_solve_init_c472_0_kernel_3_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 16.608us 0.22% 16.608us 16.608us 1 + func_update_contact_force_c476_0_kernel_2_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 16.481us 0.22% 16.481us 16.481us 1 + kernel_step_1_c502_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 16.256us 0.22% 16.256us 16.256us 1 + kernel_step_1_c502_0_kernel_20_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 12.480us 0.17% 12.480us 12.480us 1 +add_inequality_constraints_c466_0_kernel_1_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 11.456us 0.15% 11.456us 11.456us 1 +_kernel_newton_only_nt_hessian_c496_0_kernel_2_seria... 0.00% 0.000us 0.00% 0.000us 0.000us 11.359us 0.15% 11.359us 1.136us 10 + kernel_step_2_c504_0_kernel_7_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 10.528us 0.14% 10.528us 10.528us 1 +_kernel_newton_only_nt_hessian_c496_0_kernel_0_seria... 0.00% 0.000us 0.00% 0.000us 0.000us 9.889us 0.13% 9.889us 0.989us 10 + func_broad_phase_c400_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 8.672us 0.12% 8.672us 8.672us 1 +_kernel_update_constraint_cost_c494_0_kernel_0_seria... 0.00% 0.000us 0.00% 0.000us 0.000us 8.514us 0.12% 8.514us 0.851us 10 +------------------------------------------------------- ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ +Self CPU time total: 8.409ms +Self CUDA time total: 7.391ms + diff --git a/speed_test-gw0.txt b/speed_test-gw0.txt new file mode 100644 index 0000000000..d84ccc0bf6 --- /dev/null +++ b/speed_test-gw0.txt @@ -0,0 +1 @@ +env=dex_hand | batch_size=4096 | use_contact_island=False | dtype=ndarray | backend=cuda | compile_time=42.3 | runtime_fps=6217.0 | realtime_factor=388.6 diff --git a/speed_test.txt b/speed_test.txt new file mode 100644 index 0000000000..6ca20d79e6 --- /dev/null +++ b/speed_test.txt @@ -0,0 +1 @@ +env=dex_hand | batch_size=4096 | use_contact_island=False | dtype=field | backend=cuda | compile_time=54.2 | runtime_fps=8908.0 | realtime_factor=556.8 diff --git a/trace_g1_fall-Newton-None-4096-gpu_0.json b/trace_g1_fall-Newton-None-4096-gpu_0.json new file mode 100644 index 0000000000..84f61090f1 --- /dev/null +++ b/trace_g1_fall-Newton-None-4096-gpu_0.json @@ -0,0 +1,29980 @@ + + { + "schemaVersion": 1, + "deviceProperties": [ + { + "id": 0, "name": "NVIDIA GeForce RTX 5090", "totalGlobalMem": 33666498560, + "computeMajor": 12, "computeMinor": 0, + "maxThreadsPerBlock": 1024, "maxThreadsPerMultiprocessor": 1536, + "regsPerBlock": 65536, "warpSize": 32, + "sharedMemPerBlock": 49152, "numSms": 170 + , "regsPerMultiprocessor": 65536, "sharedMemPerBlockOptin": 101376, "sharedMemPerMultiprocessor": 102400 + } + ], + "cupti_version": 26, + 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newline at end of file From 82c5b887007accd49cbc545b872dbf259f14e625 Mon Sep 17 00:00:00 2001 From: Hugh Perkins Date: Wed, 25 Mar 2026 04:20:49 -0700 Subject: [PATCH 2/2] Remove accidentally committed test output files Made-with: Cursor --- ...summary_g1_fall-Newton-None-4096-gpu_0.txt | 48 - speed_test-gw0.txt | 1 - speed_test.txt | 1 - trace_g1_fall-Newton-None-4096-gpu_0.json | 29980 ---------------- 4 files changed, 30030 deletions(-) delete mode 100644 profile_summary_g1_fall-Newton-None-4096-gpu_0.txt delete mode 100644 speed_test-gw0.txt delete mode 100644 speed_test.txt delete mode 100644 trace_g1_fall-Newton-None-4096-gpu_0.json diff --git a/profile_summary_g1_fall-Newton-None-4096-gpu_0.txt b/profile_summary_g1_fall-Newton-None-4096-gpu_0.txt deleted file mode 100644 index 0f50ea3510..0000000000 --- a/profile_summary_g1_fall-Newton-None-4096-gpu_0.txt +++ /dev/null @@ -1,48 +0,0 @@ -=== Kernel Summary (sorted by cuda_time_total) === -------------------------------------------------------- ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ - Name Self CPU % Self CPU CPU total % CPU total CPU time avg Self CUDA Self CUDA % CUDA total CUDA time avg # of Calls -------------------------------------------------------- ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ - ProfilerStep* 0.00% 0.000us 0.00% 0.000us 0.000us 8.151ms 110.27% 8.151ms 8.151ms 1 - _kernel_linesearch_c486_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 1.370ms 18.54% 1.370ms 137.014us 10 - func_broad_phase_c400_0_kernel_2_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 866.432us 11.72% 866.432us 866.432us 1 -add_inequality_constraints_c466_0_kernel_3_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 708.416us 9.58% 708.416us 708.416us 1 -_kernel_newton_only_nt_hessian_c496_0_kernel_1_range... 0.00% 0.000us 0.00% 0.000us 0.000us 651.389us 8.81% 651.389us 65.139us 10 -_kernel_newton_only_nt_hessian_c496_0_kernel_3_range... 0.00% 0.000us 0.00% 0.000us 0.000us 505.184us 6.83% 505.184us 50.518us 10 - _kernel_update_gradient_c498_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 410.978us 5.56% 410.978us 41.098us 10 - kernel_step_1_c502_0_kernel_5_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 408.960us 5.53% 408.960us 408.960us 1 -_kernel_update_constraint_cost_c494_0_kernel_1_range... 0.00% 0.000us 0.00% 0.000us 0.000us 244.064us 3.30% 244.064us 24.406us 10 - kernel_step_2_c504_0_kernel_9_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 232.928us 3.15% 232.928us 232.928us 1 - func_solve_init_c472_0_kernel_7_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 175.264us 2.37% 175.264us 175.264us 1 - func_solve_init_c472_0_kernel_5_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 159.680us 2.16% 159.680us 159.680us 1 -_kernel_update_constraint_forces_c490_0_kernel_1_ran... 0.00% 0.000us 0.00% 0.000us 0.000us 148.928us 2.01% 148.928us 14.893us 10 - kernel_step_1_c502_0_kernel_10_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 146.432us 1.98% 146.432us 146.432us 1 - func_solve_init_c472_0_kernel_10_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 138.240us 1.87% 138.240us 138.240us 1 - func_solve_init_c472_0_kernel_12_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 131.840us 1.78% 131.840us 131.840us 1 - func_sort_contacts_c408_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 116.032us 1.57% 116.032us 116.032us 1 - func_solve_init_c472_0_kernel_16_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 104.512us 1.41% 104.512us 104.512us 1 -_kernel_update_constraint_qfrc_c492_0_kernel_1_range... 0.00% 0.000us 0.00% 0.000us 0.000us 88.385us 1.20% 88.385us 8.838us 10 -_kernel_update_search_direction_c500_0_kernel_1_rang... 0.00% 0.000us 0.00% 0.000us 0.000us 74.527us 1.01% 74.527us 7.453us 10 - kernel_step_2_c504_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 61.568us 0.83% 61.568us 61.568us 1 -add_inequality_constraints_c466_0_kernel_5_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 58.816us 0.80% 58.816us 58.816us 1 - kernel_step_1_c502_0_kernel_25_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 54.432us 0.74% 54.432us 54.432us 1 -_func_narrowphase_multicontact_mixed_c412_0_kernel_0... 0.00% 0.000us 0.00% 0.000us 0.000us 49.440us 0.67% 49.440us 24.720us 2 - Memcpy HtoD (Pageable -> Device) 0.00% 0.000us 0.00% 0.000us 0.000us 47.299us 0.64% 47.299us 0.556us 85 -_func_narrowphase_contact0_c418_0_kernel_1_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 38.240us 0.52% 38.240us 38.240us 1 - kernel_step_2_c504_0_kernel_10_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 28.928us 0.39% 28.928us 28.928us 1 - kernel_step_1_c502_0_kernel_3_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 27.424us 0.37% 27.424us 27.424us 1 - kernel_step_1_c502_0_kernel_17_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 19.968us 0.27% 19.968us 19.968us 1 - kernel_step_1_c502_0_kernel_12_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 18.912us 0.26% 18.912us 18.912us 1 - func_solve_init_c472_0_kernel_3_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 16.608us 0.22% 16.608us 16.608us 1 - func_update_contact_force_c476_0_kernel_2_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 16.481us 0.22% 16.481us 16.481us 1 - kernel_step_1_c502_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 16.256us 0.22% 16.256us 16.256us 1 - kernel_step_1_c502_0_kernel_20_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 12.480us 0.17% 12.480us 12.480us 1 -add_inequality_constraints_c466_0_kernel_1_range_for... 0.00% 0.000us 0.00% 0.000us 0.000us 11.456us 0.15% 11.456us 11.456us 1 -_kernel_newton_only_nt_hessian_c496_0_kernel_2_seria... 0.00% 0.000us 0.00% 0.000us 0.000us 11.359us 0.15% 11.359us 1.136us 10 - kernel_step_2_c504_0_kernel_7_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 10.528us 0.14% 10.528us 10.528us 1 -_kernel_newton_only_nt_hessian_c496_0_kernel_0_seria... 0.00% 0.000us 0.00% 0.000us 0.000us 9.889us 0.13% 9.889us 0.989us 10 - func_broad_phase_c400_0_kernel_1_range_for 0.00% 0.000us 0.00% 0.000us 0.000us 8.672us 0.12% 8.672us 8.672us 1 -_kernel_update_constraint_cost_c494_0_kernel_0_seria... 0.00% 0.000us 0.00% 0.000us 0.000us 8.514us 0.12% 8.514us 0.851us 10 -------------------------------------------------------- ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ ------------ -Self CPU time total: 8.409ms -Self CUDA time total: 7.391ms - diff --git a/speed_test-gw0.txt b/speed_test-gw0.txt deleted file mode 100644 index d84ccc0bf6..0000000000 --- a/speed_test-gw0.txt +++ /dev/null @@ -1 +0,0 @@ -env=dex_hand | batch_size=4096 | use_contact_island=False | dtype=ndarray | backend=cuda | compile_time=42.3 | runtime_fps=6217.0 | realtime_factor=388.6 diff --git a/speed_test.txt b/speed_test.txt deleted file 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