FeatherPGS: faster physics, familiar behavior.

A concise view of throughput, transition risk, and heterogeneous scale.

Throughput

Broad throughput lead

8/9ahead of MuJoCo Warp

9/9ahead of PhysX

G1 Flat

FeatherPGS 589k

MuJoCo Warp 459k

PhysX 456k

Franka Lift

FeatherPGS 2.00M

MuJoCo Warp 1.32M

PhysX 499k

Kuka Lift

FeatherPGS 1.58M

MuJoCo Warp 911k

PhysX 268k

Bars are normalized to FeatherPGS within each task; labels show absolute selected FPS. Each solver was independently swept over environment count. MuJoCo Warp wins Franka Reach.

Transition

A PhysX controller worked unchanged.

The same PhysX-generated Franka Reach action corpus replayed unchanged. FeatherPGS and PhysX both reached 32/32, with identical median / p95 success timing of 48 / 51 actions.

FeatherPGS Watch 4 seconds

PhysX Watch 4 seconds

A validated low-friction transition example—not a universal policy-transfer guarantee.

Heterogeneous simulation

20 task types, one simulation

3.54M

environment steps / second

4.46×

PhysX

Each backend was independently swept over environment count; both selected points were repeated unchanged.