[Question] Comparison of GPU utilization between Isaac lab and Isaac gym

[xliu0105]

Question

When I run a quadruped robot training with 4096 environments on isaac gym, the GPU utilization is about 60%, while when I use isaac lab to train the same robot with the same environment, the GPU utilization is only about 30%. Is this because isaac lab has better computational optimization or because it cannot fully utilize the performance of the GPU?

[Mayankm96]

If you are comparing the rough terrain locomotion training, it is likely the memory consumption is reduced due to the usage of the trimesh library for some of the terrain generation (instead of height-field generation). The generated terrain in Isaac Lab may have a lesser number of triangle faces, so it consumes less memory accordingly.

However, some proper benchmarking is needed to make a more general statement.