Genesis is a new and impressive looking simulator but it severely overstates its simulation speed and accuracy. It’s also not a video generation model.
It is nice to see articles about Genesis and I learn a lot. I have two questions:
1. Can Genesis "catch up" when objects start moving, or does it just assume they are static and never simulate their motions? If the former is true that genesis can be adaptive in simulating motions, then does it mean hibernation is a good strategy when most of the scene objects are static?
2. Suppose genesis can simulate in 430,000x real-time without rendering, what is the corresponding speed for Issac or ManiSkill in this blind simulation setting? If genesis is much faster in blind simulation, it may still be a very good advantage?
Sorry if these questions are dumb; I am a complete newbie in simulators. Thanks for your time!
1. Genesis can simulate object motions, but if you want to simulate accurately it will run slower. The original benchmark code from Genesis however barely has any motions so it looks like it’s faster. Hibernation is useful if you have a very large scene but only want to simulate a small part of it (eg one robot and one or two objects). This is typically called sleeping in PhysX and other simulators.
2. The blind simulation speed is also known as physics only simulation speed or state simulation speed. The two bar charts in my post show the blind simulation speed. It is slower than existing GPU simulators when an object is being manipulated by a robot. If there is just the robot by itself it seems maybe Genesis speed is close to others
It is nice to see articles about Genesis and I learn a lot. I have two questions:
1. Can Genesis "catch up" when objects start moving, or does it just assume they are static and never simulate their motions? If the former is true that genesis can be adaptive in simulating motions, then does it mean hibernation is a good strategy when most of the scene objects are static?
2. Suppose genesis can simulate in 430,000x real-time without rendering, what is the corresponding speed for Issac or ManiSkill in this blind simulation setting? If genesis is much faster in blind simulation, it may still be a very good advantage?
Sorry if these questions are dumb; I am a complete newbie in simulators. Thanks for your time!
1. Genesis can simulate object motions, but if you want to simulate accurately it will run slower. The original benchmark code from Genesis however barely has any motions so it looks like it’s faster. Hibernation is useful if you have a very large scene but only want to simulate a small part of it (eg one robot and one or two objects). This is typically called sleeping in PhysX and other simulators.
2. The blind simulation speed is also known as physics only simulation speed or state simulation speed. The two bar charts in my post show the blind simulation speed. It is slower than existing GPU simulators when an object is being manipulated by a robot. If there is just the robot by itself it seems maybe Genesis speed is close to others
Thank you!