Hi, How to use GPU parallelized acceleration (Multi-processing)? Any demos?

[Tianyi20]

Hi, appreciate your great works about sapien.

I am playing with sapien these days and I am wondering how to create thousands of scenes and run it with GPU parallelized acceleration. Do you has any demos or examples? I appreciate any help you can offer!

[fbxiang]

The GPU parallelization is achieved by running environments in parallel in a single process. You can run thousands of scenes in parallel, but in a single process.

The exact setup may require quite some work. Since you are asking this question, I think you may be more interested in checking out ManiSkill https://github.com/haosulab/maniskill which is a higher-level wrapper for building GPU parallelized environments. If you cannot directly use ManiSkill, you can still use it as an example for building GPU environments with SAPIEN.

[Tianyi20]

Thank you very much for your help! Appreciate!