[Bug]: Memory usage increased 14+%

[jgillick]

Bug Description

(this is more of an FYI, feel free to close it if it's within acceptable limits)

I believe the differentiable constraint solver feature (commit 44e0879) increased the memory footprint of genesis by about 14%. For simple environments, this isn't a big problem. However, for one of my slightly more complex robots it reduces the number of parallel simulations by about 1,000.

For reference, though, I'm still able to run far more parallel simulations using Genesis than Isaac Lab. So either way, your team is doing great work!

Steps to Reproduce

Run the Genesis locomotion example and check the average GPU memory usage.

On my system
Before this commit: 3573MiB
After this commit: 4082MiB

Expected Behavior

The memory usage shouldn't go up quite so much. Then again, there are always tradeoffs for better features, like making the rigid body simulation to be differentiable. So maybe this is well within the expected increases as the system matures.

Screenshots/Videos

No response

Relevant log output

Environment

• OS: Ubuntu 24
• GPU/CPU: RTX 5070 Ti
• GPU-driver version: 580.82.07
• CUDA / CUDA-toolkit version: 13.0

Release version or Commit ID

Latest main branch, commit 345aa3c

Additional Context

No response

[duburcqa]

We have memory usage under the radar and I willing to improve this. We are going to setup of memory usage regression job soon, and to some in-depth analysis of what is happening.

What we could do is keeping unused memory for a given scene non-allocated. But first you need to have a better idea of what is filling you the memory.

[YilingQiao]

Thanks, let me see if I can reduce the memory