[MISC] 32x32 Cholesky tile.#2826

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hughperkins wants to merge 20 commits into

Genesis-Embodied-AI:mainfrom

hughperkins:hp/cholesky-tile-dispatch

Commits on May 22, 2026

F3-S1: 32x32 register-tile Cholesky for full-warp execution
hughperkins
committed
F3-S2: 4-way POTRF dot-split + static unroll of kb/ib/jb tile-block loops
hughperkins
committed

Commits on May 23, 2026

F3-S2b: revert static tile-block unroll, keep just the 4-way POTRF dot-split
hughperkins
committed
F3-final: revert _tile32 back to S1 (clean 2-way dot-split, +2.62 % FPS)
hughperkins
committed
F4-A: rewrite _tile32 with qd.types.vector(32, dtype) storage instead of r0..r31 named fields
hughperkins
committed
F4-A-fix: replace _TILE module-level int with literal 32 inside @qd.func bodies
hughperkins
committed
F4-B: vec8 x 4 sub-banks (b0..b3) instead of vec32 single field
hughperkins
committed
F4-B-fix: inline 4-way sub-bank dispatch inside cholesky_ (no pure-Python helper)
hughperkins
committed
F4-B-fix2: pre-declare self_k / my_col before if-cascade (separate ifs not elif)
hughperkins
committed
F4-revert: roll _tile32.py back to F3-S1 (named-field r0..r31 storage)
hughperkins
committed
F-dispatch: pick Tile16x16 or Tile32x32 Cholesky based on n_dofs
hughperkins
committed
F-dispatch: restore the analytical 4-band rule (T=32 wins in [17..32])
hughperkins
committed
style: ruff-format test_tile32_cholesky.py (blank line after module docstring)
hughperkins
committed
style: rewrap two over-120c docstring lines in the Cholesky dispatch code
hughperkins
committed
style: rewrap save~=0 comment/docstring runs introduced or touched by this branch
hughperkins
committed
chore: move test_tile32_cholesky.py out of genesis (-> perso_hugh/prot)
hughperkins
committed
chore: scrub perso_hugh references from genesis sources
hughperkins
committed
Revert pre-existing perso_hugh URL deletion in test_rigid_physics_analytical_vs_gjk.py
hughperkins
committed
Revert pre-existing perso_hugh/doc/linesearch_shuffle.md ref in rigid_solver.py
hughperkins
committed
style: restore T=16 funcs verbatim from upstream/main
hughperkins
committed

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[MISC] 32x32 Cholesky tile.#2826

[MISC] 32x32 Cholesky tile.#2826
hughperkins wants to merge 20 commits into
Genesis-Embodied-AI:mainfrom
hughperkins:hp/cholesky-tile-dispatch

Commits on May 22, 2026

F3-S1: 32x32 register-tile Cholesky for full-warp execution

F3-S2: 4-way POTRF dot-split + static unroll of kb/ib/jb tile-block loops

Commits on May 23, 2026

F3-S2b: revert static tile-block unroll, keep just the 4-way POTRF dot-split

F3-final: revert _tile32 back to S1 (clean 2-way dot-split, +2.62 % FPS)

F4-A: rewrite _tile32 with qd.types.vector(32, dtype) storage instead of r0..r31 named fields

F4-A-fix: replace _TILE module-level int with literal 32 inside @qd.func bodies

F4-B: vec8 x 4 sub-banks (b0..b3) instead of vec32 single field

F4-B-fix: inline 4-way sub-bank dispatch inside cholesky_ (no pure-Python helper)

F4-B-fix2: pre-declare self_k / my_col before if-cascade (separate ifs not elif)

F4-revert: roll _tile32.py back to F3-S1 (named-field r0..r31 storage)

F-dispatch: pick Tile16x16 or Tile32x32 Cholesky based on n_dofs

F-dispatch: restore the analytical 4-band rule (T=32 wins in [17..32])

style: ruff-format test_tile32_cholesky.py (blank line after module docstring)

style: rewrap two over-120c docstring lines in the Cholesky dispatch code

style: rewrap save~=0 comment/docstring runs introduced or touched by this branch

chore: move test_tile32_cholesky.py out of genesis (-> perso_hugh/prot)

chore: scrub perso_hugh references from genesis sources

Revert pre-existing perso_hugh URL deletion in test_rigid_physics_analytical_vs_gjk.py

Revert pre-existing perso_hugh/doc/linesearch_shuffle.md ref in rigid_solver.py

style: restore T=16 funcs verbatim from upstream/main