[MISC] Speed up rigid constraint solver by adjusting cholesky tile size.#2827

Merged

duburcqa merged 32 commits into

Genesis-Embodied-AI:mainfrom

hughperkins:hp/cholesky-tile-factor

May 24, 2026

Commits on May 22, 2026

F3-S1: 32x32 register-tile Cholesky for full-warp execution
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F3-S2: 4-way POTRF dot-split + static unroll of kb/ib/jb tile-block loops
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Commits on May 23, 2026

F3-S2b: revert static tile-block unroll, keep just the 4-way POTRF dot-split
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F3-final: revert _tile32 back to S1 (clean 2-way dot-split, +2.62 % FPS)
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F4-A: rewrite _tile32 with qd.types.vector(32, dtype) storage instead of r0..r31 named fields
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F4-A-fix: replace _TILE module-level int with literal 32 inside @qd.func bodies
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F4-B: vec8 x 4 sub-banks (b0..b3) instead of vec32 single field
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F4-B-fix: inline 4-way sub-bank dispatch inside cholesky_ (no pure-Python helper)
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F4-B-fix2: pre-declare self_k / my_col before if-cascade (separate ifs not elif)
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F4-revert: roll _tile32.py back to F3-S1 (named-field r0..r31 storage)
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F-dispatch: pick Tile16x16 or Tile32x32 Cholesky based on n_dofs
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F-dispatch: restore the analytical 4-band rule (T=32 wins in [17..32])
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style: ruff-format test_tile32_cholesky.py (blank line after module docstring)
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style: rewrap two over-120c docstring lines in the Cholesky dispatch code
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style: rewrap save~=0 comment/docstring runs introduced or touched by this branch
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chore: move test_tile32_cholesky.py out of genesis (-> perso_hugh/prot)
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chore: scrub perso_hugh references from genesis sources
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Revert pre-existing perso_hugh URL deletion in test_rigid_physics_analytical_vs_gjk.py
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Revert pre-existing perso_hugh/doc/linesearch_shuffle.md ref in rigid_solver.py
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style: restore T=16 funcs verbatim from upstream/main
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refactor: collapse T=16/T=32 Cholesky variants via closure factories
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refactor: unify Cholesky T=16/T=32 via qd.static inside one func
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fixup: drop qd.static around T/LOG2_T bindings
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Revert "fixup: drop qd.static around T/LOG2_T bindings"
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fix: use parse-time Python ternary for TileCls, not qd.static if
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fix: drop qd.static wrap on TileCls ternary (only accepts ints/ptrs)
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use qd.static inside TileCls ternary condition
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refactor: pass TileCls as qd.template() parameter, not parse-time local
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restore upstream comments lost during refactor
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move algorithm docstrings back onto the impl bodies
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Merge remote-tracking branch 'upstream/main' into hp/cholesky-tile-factor
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Commits on May 24, 2026

Merge branch 'main' into hp/cholesky-tile-factor
hughperkins
authored