benchmark-isaaclab

bởi nvidia

Chạy các tập lệnh benchmark của Isaac Lab và diễn giải kết quả đầu ra của chúng. Bao gồm thông lượng huấn luyện RL, FPS bước môi trường không phải RL, các benchmark camera/tải/khởi động, hàng loạt...

npx skills add https://github.com/nvidia/omniperf --skill benchmark-isaaclab

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Isaac Lab Benchmarking

Parameter references may be outdated. Always verify with ./isaaclab.sh -p <script> --help. For profiling details (Tracy, Nsight), see the profiling skill. For installation, see the install-isaaclab skill.

Setup

See the install-isaaclab skill for installation (clone, conda env, Isaac Sim linking).

Before Running Any Benchmark

Use a WARM run for headline FPS/frametime — see the COLD/WARM/TRACY method in the profiling skill
Set CPU governor to performance — see perf-tuning skill
Do not patch Isaac Sim shutdown by default. If Tracy shutdown hangs after outputs are complete, use the scoped last-resort guidance in the profiling skill

Benchmark Scripts

All in scripts/benchmarks/. Run via ./isaaclab.sh -p scripts/benchmarks/<script>.py.

Script	What it measures	Key params
`benchmark_non_rl.py`	Environment step FPS (most common)	`--task`, `--num_envs`, `--num_frames`
`benchmark_rlgames.py`	RL-Games training throughput	`--task`, `--num_envs`, `--max_iterations`
`benchmark_rsl_rl.py`	RSL-RL training throughput	`--task`, `--num_envs`, `--max_iterations`
`benchmark_cameras.py`	Camera system FPS + autotune	`--num_tiled_cameras`, `--num_standard_cameras`, `--height`, `--width`, `--autotune`
`benchmark_load_robot.py`	Robot loading time	`--num_envs`, `--robot {anymal_d,h1,g1}`
`benchmark_startup.py`	App startup time profiling	`--task` (required), `--num_envs`, `--top_n`
`benchmark_lazy_export.py`	Lazy export/import speed	`--iterations`, `--tasks` (stdout only, no JSON backend)
`benchmark_view_comparison.py`	XformPrimView vs PhysX	`--num_envs`, `--num_iterations`, `--profile` (stdout/cProfile, no JSON backend)
`benchmark_xform_prim_view.py`	XformPrimView performance	`--num_envs`, `--num_iterations`, `--profile` (stdout/cProfile, no JSON backend)

Note: benchmark_lazy_export.py, benchmark_view_comparison.py, and benchmark_xform_prim_view.py do NOT support --benchmark_backend or --output_path. They output results to stdout. Use --profile (where available) to save cProfile .prof files.

Common params: --device, --enable_cameras, --benchmark_backend, --output_path, --distributed

Note: --headless is deprecated. Omit --viz for headless mode, or use --viz none.

Passing Kit args (for profiling, output control, etc.):

./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py \
    --task=Isaac-Ant-Direct-v0 --viz none --num_envs=4096 \
    --kit_args "--/app/profilerBackend=tracy --/log/file=/tmp/kit.log"

Batch suites

bash scripts/benchmarks/run_training_benchmarks.sh    # RSL-RL, 500 iters
bash scripts/benchmarks/run_non_rl_benchmarks.sh      # non-RL, various env counts
bash scripts/benchmarks/run_physx_benchmarks.sh        # PhysX assets

Critical Gotcha: Parameter Format

Isaac Lab uses UNDERSCORES (standard argparse). Isaac Sim uses HYPHENS.

Isaac Lab:  --num_envs 4096  --num_frames 100  --enable_cameras
Isaac Sim:  --num-cameras 8  --num-gpus 1      --num-frames 600

Mixing them up is a common source of silent misconfiguration.

Common Tasks and Env Counts

Camera tasks (add --enable_cameras):

Isaac-Cartpole-RGB-Camera-Direct-v0: 512-4096 envs

Classic physics (4096 / 8192 / 16384 envs):

Isaac-Ant-Direct-v0, Isaac-Cartpole-Direct-v0, Isaac-Humanoid-Direct-v0

Locomotion (4096 envs):

Isaac-Velocity-Rough-Anymal-C-v0, Isaac-Velocity-Rough-H1-v0, Isaac-Velocity-Rough-G1-v0

Manipulation (128-8192 envs):

Isaac-Reach-Franka-v0, Isaac-Factory-GearMesh-Direct-v0

Output Files

benchmark_<type>_<task>_<timestamp>.json — main results file
kit.log — execution log (if --/log/file= is set via --kit_args)
*.tracy / *.nsys-rep — profiling traces (only with profiling args)

JSON structure

Array of phase objects, each with phase_name, measurements (list of {name, data, type, unit}), and metadata (list of {name, data, type}). Phases: benchmark_info, startup, runtime, hardware_info, version_info. RL benchmarks add a train phase.