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"block_graph": true, "iterations": null, "lod": true, "output": "/home/sudhir/GSim/results/lod_320x200_n64.json" }, "gpu": "NVIDIA RTX A6000", "torch": "2.8.0+cu128", "pid": 3421193, "initialization_s": 4.384363201446831, "output": { "shape": [ 64, 200, 320, 3 ], "device": "cuda:0", "dtype": "torch.uint8" }, "render": { "median_ms": 26.515173725783825, "p95_ms": 27.39229598082602, "env_fps": 2413.7122638485775, "samples_ms": [ 27.576370164752007, 26.543512009084225, 26.430032216012478, 26.532774791121483, 26.37629024684429, 26.38501487672329, 27.050443924963474, 26.497572660446167 ] }, "step": { "median_ms": 58.74260421842337, "p95_ms": 58.96103787235916, "env_fps": 1089.498854392427, "samples_ms": [ 58.61603748053312, 58.61879140138626, 58.74398909509182, 58.74121934175491, 58.95032361149788, 58.966807089746, 58.82085673511028, 58.64053498953581 ] }, "finite_state": true, "max_constraints_at_end": 15, "contacts_at_end": 64, "torch_peak_allocated_mib": 663.79150390625, "torch_peak_reserved_mib": 1064.0, "whole_device_used_mib": 6968.4375, "subset_reset_untouched_exact": true, "subset_reset_target_error": 0.0, "status": "passed", "nvml_sampled_process_peak_mib": 2356.0, "run": "lod_320x200_n64" }, { "config": { "n": 1, "width": 320, "height": 200, "mode": "mugs", "dense": false, "chunk": 0, "radius_clip": 0.0, "degree": 3, "substeps": 50, "block_graph": false, "iterations": null, "lod": false, "shadows": false, "output": "/home/sudhir/GSim/results/mugs_n1.json" }, "gpu": "NVIDIA RTX A6000", "torch": "2.8.0+cu128", "pid": 3430319, "initialization_s": 8.765249227173626, "status": "error", "error": "The expanded size of the tensor (3) must match the existing size (2) at non-singleton dimension 3. Target sizes: [-1, -1, -1, 3]. Tensor sizes: [1, 200, 320, 2]", "traceback": "Traceback (most recent call last):\n File \"/home/sudhir/GSim/benchmarks/pipeline.py\", line 76, in main\n image = env.render()\n ^^^^^^^^^^^^\n File \"/home/sudhir/GSim/simulator/gpu_sim.py\", line 150, in render\n return self.mugs._compute_data().rgb\n ^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/home/sudhir/GSim/third_party/MuGS/src/mugs_mjlab/sensors/gaussian_sensor.py\", line 213, in _compute_data\n return self._compute_hybrid()\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/home/sudhir/GSim/third_party/MuGS/src/mugs_mjlab/sensors/gaussian_sensor.py\", line 233, in _compute_hybrid\n rgb = self._composite_batch(backgrounds, foregrounds, masks)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/home/sudhir/GSim/third_party/MuGS/src/mugs_mjlab/sensors/gaussian_sensor.py\", line 386, in _composite_batch\n masks_3ch = masks.expand(-1, -1, -1, 3) # (N, H, W, 3)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^\nRuntimeError: The expanded size of the tensor (3) must match the existing size (2) at non-singleton dimension 3. Target sizes: [-1, -1, -1, 3]. Tensor sizes: [1, 200, 320, 2]\n", "nvml_sampled_process_peak_mib": 1608.0, "run": "mugs_n1" }, { "config": { "n": 1, "width": 320, "height": 200, "mode": "native", "dense": false, "chunk": 128, "radius_clip": 0.0, "degree": 3, "substeps": 50, "block_graph": false, "iterations": null, "output": "/home/sudhir/GSim/results/native_n1.json" }, "gpu": "NVIDIA RTX A6000", "torch": "2.8.0+cu128", "pid": 3383555, "initialization_s": 3.5846431721001863, "output": { "shape": [ 1, 200, 320, 3 ], "device": "cuda:0", "dtype": "torch.uint8" }, "render": { "median_ms": 0.7037553004920483, "p95_ms": 0.7158955559134483, "env_fps": 1420.948445149649, "samples_ms": [ 0.7121283560991287, 0.712360255420208, 0.6988812237977982, 0.6969496607780457, 0.6936881691217422, 0.7030824199318886, 0.704428181052208, 0.7177991792559624 ] }, "step": { "median_ms": 26.007618755102158, "p95_ms": 26.076886616647243, "env_fps": 38.450271415325965, "samples_ms": [ 25.880970992147923, 26.017756201326847, 26.0015856474638, 26.013651862740517, 26.098299771547318, 26.037119328975677, 25.99960844963789, 25.853184051811695 ] }, "finite_state": true, "max_constraints_at_end": 15, "contacts_at_end": 1, "torch_peak_allocated_mib": 0.00390625, "torch_peak_reserved_mib": 2.0, "whole_device_used_mib": 6094.4375, "subset_reset_untouched_exact": true, "subset_reset_target_error": 0.0, "status": "passed", "nvml_sampled_process_peak_mib": 1482.0, "run": "native_n1" }, { "config": { "n": 1024, "width": 320, "height": 200, "mode": "native", "dense": false, "chunk": 128, "radius_clip": 0.0, "degree": 3, "substeps": 50, "block_graph": false, "iterations": null, "output": "/home/sudhir/GSim/results/native_n1024.json" }, "gpu": "NVIDIA RTX A6000", "torch": "2.8.0+cu128", "pid": 3385418, "initialization_s": 3.700061989016831, "output": { "shape": [ 1024, 200, 320, 3 ], "device": "cuda:0", "dtype": "torch.uint8" }, "render": { "median_ms": 448.28654918819666, "p95_ms": 450.1250345259905, "env_fps": 2284.2532345758855, 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