LIBERO on MuJoCo Warp
130 robot manipulation tasks on one $700 GPU
Ported all 130 LIBERO manipulation tasks to MuJoCo Warp (MJX + Warp), batched across thousands of parallel worlds on a single GPU.
- 17,137 physics env-steps/s at 2,048 worlds on an RX 9070 XT ($700, 16 GB, RDNA4), against 38 env-steps/s on CPU robosuite.
- A 50-epoch BC transformer scores 42.5% on Warp vs 50% on CPU. Without the renderer fixes it scores 0%.
- The hard part was the renderer: a BC policy is a fixed function of the pixels, and the Warp ray tracer is not MuJoCo’s CPU renderer. Four fixes (vertical flip, shadow constant, 1.15x brightness, cube-map sampling) closed most of the gap.
- Surfaced and fixed a Warp kernel-name drift bug in the CCD collision path.
Writeup: I ran 130 robot manipulation tasks in parallel on a $700 GPU