Physics median
0.77x
Median latest speedup across matched Newton physics solver rows. The reciprocal step-time ratio is 1.3x.
Readout
Largest physics spread
0.99x / 0.19x
Best: Domino Chain / mujoco. Slowest relative row: Domino Chain / vbd.
Micro-probes
1x
Median latest speedup for focused Warp lowering probes. Best micro row: Warp Custom Adjoint.
Physics Speed Ratios
| Solver | Latest speed vs before | Latest det/plain cost | Latest det step | Latest plain step |
|---|---|---|---|---|
| Falling Cube | ||||
featherstone |
0.56x latest slower | 4.54x | 1.01 s | 223.1 ms |
mujoco |
0.99x about the same | 28.7x | 107.73 s | 3.75 s |
semi_implicit |
0.38x latest slower | 7.06x | 749.4 ms | 106.2 ms |
xpbd |
0.33x latest slower | 10.67x | 1.72 s | 161.3 ms |
| Box Stack | ||||
mujoco |
0.99x about the same | 24.84x | 160.88 s | 6.48 s |
vbd |
0.19x latest slower | 38.05x | 15.62 s | 410.4 ms |
xpbd |
0.38x latest slower | 7.44x | 1.79 s | 240.2 ms |
| Domino Chain | ||||
mujoco |
0.99x about the same | 24.15x | 162.3 s | 6.72 s |
vbd |
0.19x latest slower | 38.08x | 15.68 s | 411.8 ms |
xpbd |
0.37x latest slower | 7.56x | 1.8 s | 238.2 ms |
| 7-DOF Arm | ||||
featherstone |
0.78x latest slower | 1.42x | 5.13 s | 3.63 s |
mujoco |
0.92x latest slower | 28.8x | 118.05 s | 4.1 s |
xpbd |
0.37x latest slower | 12.8x | 2.72 s | 212.7 ms |
| Humanoid Standing | ||||
featherstone |
0.98x about the same | 1.05x | 21.19 s | 20.19 s |
mujoco |
0.96x latest slower | 27.71x | 130.57 s | 4.71 s |
xpbd |
0.39x latest slower | 6.12x | 1.87 s | 304.7 ms |
| Diffsim Ball | ||||
semi_implicit |
0.94x latest slower | 2.91x | 1.44 s | 494.5 ms |
| Diffsim Bear | ||||
semi_implicit |
0.83x latest slower | 6.07x | 6 s | 987.7 ms |
| Diffsim Cloth COM | ||||
semi_implicit |
0.77x latest slower | 6.93x | 3.13 s | 451.1 ms |
| Diffsim Soft Body | ||||
semi_implicit |
0.9x latest slower | 3.08x | 5.4 s | 1.76 s |
| Diffsim Spring Cage | ||||
semi_implicit |
0.9x latest slower | 3.91x | 2.04 s | 520.7 ms |
| VBD Cloth Patch | ||||
vbd |
0.25x latest slower | 9.27x | 24.78 s | 2.67 s |
| VBD Soft Body | ||||
vbd |
0.29x latest slower | 6.44x | 26.04 s | 4.04 s |
Warp Micro-Probe Speed Ratios
These rows are the focused Warp atomic/adjoint workloads rerun with
wp.config.deterministic = "run_to_run". They are separate from the Newton solver matrix;
verdicts are omitted here because none changed.
| Probe | ID | Latest speed vs before | Latest det/plain cost | Latest det step | Latest plain step |
|---|---|---|---|---|---|
| Warp Indexed Counter | warp_counter_indexed |
1x about the same | 12.42x | 7.5 ms | 0.6 ms |
| Warp Static Counter Index | warp_counter_static_index |
1.01x about the same | 12.45x | 7.4 ms | 0.6 ms |
| Warp Sliced Counter | warp_counter_sliced |
1x about the same | 12.65x | 7.5 ms | 0.6 ms |
| Warp Custom Adjoint | warp_custom_adjoint |
3.57x latest faster | 10.23x | 63.0 ms | 6.2 ms |
Reused Scenario Videos
falling_cube
Falling Cube
Closest speed ratio: mujoco 0.99x.
box_stack
Box Stack
Closest speed ratio: mujoco 0.99x.
domino_chain
Domino Chain
Closest speed ratio: mujoco 0.99x.
arm_7dof
7-DOF Arm
Closest speed ratio: mujoco 0.92x.
humanoid
Humanoid Standing
Closest speed ratio: featherstone 0.98x.
diffsim_ball
Diffsim Ball
Closest speed ratio: semi_implicit 0.94x.
diffsim_bear
Diffsim Bear
Closest speed ratio: semi_implicit 0.83x.
diffsim_cloth_com
Diffsim Cloth COM
Closest speed ratio: semi_implicit 0.77x.
diffsim_soft_body
Diffsim Soft Body
Closest speed ratio: semi_implicit 0.9x.
diffsim_spring_cage
Diffsim Spring Cage
Closest speed ratio: semi_implicit 0.9x.
vbd_cloth_patch
VBD Cloth Patch
Closest speed ratio: vbd 0.25x.
vbd_soft_body
VBD Soft Body
Closest speed ratio: vbd 0.29x.