Porting LIBERO to MuJoCo Warp: 130 robot tasks on one $700 AMD GPU
one_does_not_just · reddit · 2026-10-08
A dev ported the LIBERO robot-manipulation benchmark (130 tasks) to MuJoCo Warp, hitting 17,137 env-steps/s on a $700 RX 9070 XT vs 38 on CPU robosuite. GPU sim turns 8-9 hours of demo generation into minutes. Getting Warp's HIP kernels compiling for RDNA4 was the enabler; four renderer fixes (flip, shadow, brightness, cube-map) took eval from 0% to 42.5%. Code and a 21.6MB BC checkpoint are open-sourced.
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