19/20-task campaign status

FPGS faster on 18/19 complete fixed-count pairs · geometric mean 1.458× · FPGS faster than stock PhysX on 19/19 complete pairs · geometric mean 3.226×

Fixed FPS is a timing screen, not a peak sweep or task-quality verdict. PhysX uses each task's stock authored settings. Training is a one-seed competence screen. Reward curves use a separate vertical range for each task row and cannot be compared across tasks.FPGS MJWarp

Absolute simulation throughput by task for PhysX, MJWarp, and Feather PGSSimulation throughput by task relative to a PhysX baseline of 100 percent
#TaskFixed FFixed MF/MFixed PF/PTrain FTrain MNative rewardQuality
1Isaac-Cartpolecartpole5.15M4.26M1.21×2.75M1.87×598.7k150/150569.4k150/150task-local reward range -4.46 to 4.947; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
2Isaac-Reach-UR10reach_ur103.10M1.94M1.60×721.8k4.30×444.5k1000/1000400.4k1000/1000task-local reward range -3.954 to 0.251; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; mixed 1/2; task success F 32/32 · M 32/32
3Isaac-Open-Drawer-Frankaopen_drawer_franka2.27M2.67M0.85×480.5k4.72×487.3k400/400474.7k400/400task-local reward range 1.711 to 101.4; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
4Isaac-Antant2.50M1.85M1.35×1.21M2.06×544.0k1000/1000457.1k1000/1000task-local reward range -0.03766 to 131.3; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
5Isaac-Humanoid-Directhumanoid_direct2.26M1.41M1.61×387.6k5.84×failed9/1000 · 482.0k observed439.7k1000/1000task-local reward range -0.6411 to 135; MJWarp 80 plotted samplesprimary complete; outcome not assessed
6Isaac-Humanoidhumanoid1.86M1.23M1.52×376.6k4.94×failed14/1000 · 399.4k observed365.3k1000/1000task-local reward range -0.6829 to 156.5; MJWarp 80 plotted samplesprimary complete; outcome not assessed
7Isaac-Reach-Frankareach_franka1.32M1.24M1.07×587.7k2.25×365.5k1000/1000333.4k1000/1000task-local reward range -3.989 to 0.2221; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 3/3
8Isaac-Lift-Frankalift_franka1.13M776.6k1.46×399.2k2.84×151.7k15000/15000 · flagged210.3k15000/15000 · flaggedtask-local reward range -1.69 to 81.59; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; miss 0/2; sticky success F 32/32 · M 0/32
9Isaac-Velocity-Flat-H1flat_h11.11M725.1k1.54×578.5k1.93×333.6k500/500246.2k500/500task-local reward range -10.89 to 31.77; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
10Isaac-Velocity-Flat-AnymalDflat_anymal_d1.09M376.6k2.89×421.0k2.59×313.6k300/300178.6k300/300task-local reward range -8.146 to 22.75; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
11Isaac-Velocity-Flat-G1flat_g1590.9k389.4k1.52×282.5k2.09×255.9k1500/1500176.8k1500/1500task-local reward range -13.96 to 28.9; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
12Isaac-Reorient-KukaAllegroreorient_kuka_allegro560.1k404.4k1.38×113.7k4.93×154.5k15000/15000 · flagged146.9k15000/15000 · flaggedtask-local reward range -0.7582 to 0.2602; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; miss 0/2
13Isaac-Lift-KukaAllegrolift_kuka_allegro551.7k409.2k1.35×114.4k4.82×129.4k15000/15000 · flagged138.6k15000/15000 · flaggedtask-local reward range -0.3381 to 66.15; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; miss 0/2; sticky success F 30/32 · M 31/32
14Isaac-Reach-Franka-OSCreach_franka_osc518.9k506.0k1.03×378.1k1.37×172.6k1000/1000160.5k1000/1000task-local reward range -4.603 to 0.02758; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; miss 0/3; task success F 1/32 · M 1/32
15Isaac-Velocity-Rough-Cassierough_cassie457.6k324.0k1.41×175.0k2.61×194.3k1500/1500153.5k1500/1500task-local reward range -6.859 to 42.6; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
16Isaac-Reorient-Cube-Allegroreorient_cube_allegro419.9k242.3k1.73×139.7k3.01×286.3k5000/5000154.3k5000/5000task-local reward range -0.3306 to 99.39; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; outcome not assessed
17IsaacContrib-Keyboard-SO101keyboard_so101386.8k157.7k2.45×26.1k14.85×122.0k15000/15000 · flagged79.6k15000/15000 · flaggedtask-local reward range -0.0052 to 0.02072; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; outcome not assessed; uniform success final/100 F 0%/0% · M 0%/<0.01%; buffer success final/100 F 0%/0% · M 0.66%/0.87%; MJ excessive-contact last100 99.2%
18Isaac-Velocity-Rough-G1rough_g1366.5k259.2k1.41×139.7k2.62×182.7k5000/5000133.6k5000/5000task-local reward range -9.113 to 28.17; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; pass 2/2
19Isaac-Velocity-Rough-AnymalDrough_anymal_d195.2k139.4k1.40×63.3k3.08×134.0k2000/2000128.6k2000/2000task-local reward range -4.185 to 20.54; FPGS 80 plotted samples; MJWarp 80 plotted samplesprimary complete; miss 0/2
20Isaac-Reorient-Cube-Shadow-DirectCurrent fpgs-dev deliberately exposes no FeatherPGS physics preset for the fixed-tendon Shadow model.unsupportedunsupportednot comparedunsupportednot comparedunsupportedunsupportedunsupportedunsupported
Selected peak throughput · 9 complete pairs

Optional adaptive environment-count selections. Fixed-count timing remains the primary complete matrix; ratios appear only after both quality-eligible rows close. A planned sweep endpoint may still be rising; it is not a local maximum.

TaskSelected FPGSSelected MJWarpSelected F/M
Isaac-Cartpole37.65ME524,288 · planned sweep endpoint23.39ME524,288 · planned sweep endpoint1.61×
Isaac-Reach-UR104.41ME65,536 · bracketed local maximumquality rejectednot compared
Isaac-Open-Drawer-Franka3.80ME131,072 · planned sweep endpoint4.27ME65,536 · planned sweep endpoint0.89×
Isaac-Ant4.82ME262,144 · practical plateau endpoint3.61ME131,072 · practical plateau endpoint1.34×
Isaac-Reach-Franka1.98ME32,768 · practical plateau2.32ME131,072 · bracketed local maximum0.85×
Isaac-Velocity-Flat-H11.29ME32,768 · practical plateau974.2kE65,536 · bracketed local maximum1.33×
Isaac-Velocity-Flat-AnymalD1.20ME32,768 · bracketed local maximum419.6kE32,768 · practical plateau endpoint2.87×
Isaac-Velocity-Flat-G1630.4kE32,768 · bracketed local maximum457.6kE32,768 · practical plateau1.38×
Isaac-Velocity-Rough-Cassie507.8kE32,768 · capacity-stopped selection369.2kE32,768 · capacity-stopped selection1.38×
Isaac-Velocity-Rough-G1395.7kE32,768 · bracketed local maximum292.3kE32,768 · practical plateau endpoint1.35×
Raw plot data (TSV)
rank	task_slug	task	num_envs	fpgs_fps	mjwarp_fps	physx_fps	fpgs_pct_physx	mjwarp_pct_physx	physx_pct
1	cartpole	Isaac-Cartpole	16384	5145998.032334	4255139.537983	2752302.821903	186.970634	154.602884	100.000000
2	reach_ur10	Isaac-Reach-UR10	16384	3104955.357710	1937663.068187	721770.211082	430.186133	268.459828	100.000000
3	open_drawer_franka	Isaac-Open-Drawer-Franka	16384	2268460.824602	2666689.392555	480475.112560	472.128684	555.010930	100.000000
4	ant	Isaac-Ant	16384	2498300.011599	1853441.565301	1212911.145989	205.975518	152.809344	100.000000
5	humanoid_direct	Isaac-Humanoid-Direct	16384	2264319.420785	1408489.819391	387588.638143	584.206862	363.398119	100.000000
6	humanoid	Isaac-Humanoid	16384	1860628.185347	1227911.537853	376630.906564	494.018986	326.025166	100.000000
7	reach_franka	Isaac-Reach-Franka	16384	1324392.737133	1241685.692610	587650.169219	225.370945	211.296747	100.000000
8	lift_franka	Isaac-Lift-Franka	16384	1132757.461214	776614.074812	399176.393653	283.773660	194.554109	100.000000
9	flat_h1	Isaac-Velocity-Flat-H1	16384	1114200.348244	725146.209297	578465.207870	192.613200	125.356927	100.000000
10	flat_anymal_d	Isaac-Velocity-Flat-AnymalD	16384	1089179.421723	376610.414717	421017.111398	258.701937	89.452520	100.000000
11	flat_g1	Isaac-Velocity-Flat-G1	16384	590873.597938	389362.840751	282472.087361	209.179464	137.841174	100.000000
12	reorient_kuka_allegro	Isaac-Reorient-KukaAllegro	16384	560132.215545	404435.924410	113661.948801	492.805395	355.823500	100.000000
13	lift_kuka_allegro	Isaac-Lift-KukaAllegro	16384	551744.122491	409234.412893	114396.570196	482.308273	357.733114	100.000000
14	reach_franka_osc	Isaac-Reach-Franka-OSC	16384	518928.664993	506027.455511	378101.254237	137.245952	133.833847	100.000000
15	rough_cassie	Isaac-Velocity-Rough-Cassie	16384	457571.330563	324018.376164	175033.718244	261.418963	185.117690	100.000000
16	reorient_cube_allegro	Isaac-Reorient-Cube-Allegro	16384	419943.031083	242310.805551	139670.580032	300.666777	173.487363	100.000000
17	keyboard_so101	IsaacContrib-Keyboard-SO101	8192	386775.031745	157721.026235	26052.669669	1484.588860	605.392953	100.000000
18	rough_g1	Isaac-Velocity-Rough-G1	16384	366471.581650	259223.007833	139716.754327	262.296089	185.534662	100.000000
19	rough_anymal_d	Isaac-Velocity-Rough-AnymalD	16384	195231.396613	139439.756661	63346.056755	308.198184	220.123815	100.000000