mujoco_warp_pbr: batched ray-traced PBR renderer for MuJoCo in NVIDIA Warp
mishig25 · x · 2026-10-24
Julien Blanchon open-sourced mujocowarppbr: a batched, physically based renderer for MuJoCo Warp written in NVIDIA Warp, rendering thousands of MuJoCo worlds per launch with a single specialized megakernel, reusing MuJoCo's own material, texture, and light fields. Built for multicam/many-env batch rendering with domain randomization.
Two rendering tiers:
- Real-time (default): primary rays, ray-traced soft shadows, Filament BRDF with multiscatter energy compensation, split-sum IBL from HDR environment maps, normal/ORM/emissive/opacity maps, in-kernel supersampling, mirror reflections, alpha blending — deterministic and noise-free
- Path-traced tier: unidirectional path tracing
Integrates with MJWarp and Newton, useful for photorealistic robot simulation training.
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