[Warp] Restore --frontend warp on Reach and gate the supported task set in CI by hujc7 · Pull Request #6900 · isaac-sim/IsaacLab

hujc7 · 2026-08-04T22:44:38Z

1. Summary

--frontend warp fails at env construction for Isaac-Reach-Franka and Isaac-Reach-UR10: rewards.success and terminations.success resolve to is_terminated_term and pose_command_success, which had no warp twins. Adds both, matched to the stable terms and validated by training.
The warp-supported task list was hand-maintained and had already drifted — sweeping the registry finds 4 contrib velocity tasks that adapt but were never listed (10 → 14). It is now derived, not declared.
Adds a CUDA-graph capture-safety gate for warp MDP terms. Managers run captured by default, so capture safety is the normal path; the gate captures a term, overwrites its inputs in place, replays, and compares against stable on the new data.
source/isaaclab_experimental/ had no CI job at all: all 9 of its test files were collected by nothing. Test files matched by no job: 13 → 4.
Also restores Isaac-Ant / Isaac-Humanoid, which lost warp support on develop when the locomotion rewards gained terminated_penalty and survival_success_rate without twins — the sweep in this PR is what surfaced it.
Package suite: 203 passed, 1 skipped, ~10 s. NVBug 6558734.

2. Why the existing gate did not catch it

test_frontend_cfg_conversion.py already asserted both Reach tasks adapt, and has since #5504 — it just never ran. Jobs either name a package with a positive filter-pattern, or pass not isaaclab_, which run_tests.sh converts into an exclude on isaaclab_. This package matched neither form.

3. Twin semantics

pose_command_success recomputes the pose error in a kernel rather than copying the stable result, whose buffer is reallocated per call and would go stale under graph replay. Three points where a naive twin diverges from the stable term, each with a regression test:

Behaviour	Stable	Naive twin
Sticky per-episode success	ORed inside `compute_success()`, before reset	never set; `reset()` reads and clears first, so `Metrics/success_rate` reads 0
Non-finite error	`error < bound` is false → denies success	reject form `error >= bound` is false → reports success
Negative threshold	configured (`is not None`) → denies success	read as "unset" → ignored

The sticky write happens inside the kernel, not after the launch: host-side work between launches is not replayed under capture.

Thresholds are resolved at init. A curriculum mutating them at runtime is not honoured, and cannot be while the manager is captured — a kernel scalar is baked into the graph. Recorded in the class docstring.

4. Capture-safety gate

Terms are discovered from the shared warp MDP modules and every per-task mirror under isaaclab_tasks_experimental, rather than listed, so a new term without a declaration fails the gate. Enumerating separated three groups convention had blurred: terms already covered by the hand-written mutation classes, three observation terms with no capture coverage anywhere, and eight event terms that cannot be captured at all (variable env_ids launch dim at reset cadence).

Capture-and-replay alone does not prove safety — replaying against unchanged memory re-reads the same valid bytes. Injecting a stale-view bug (wp.clone instead of a zero-copy view) fails only test_term_is_capture_safe[pose_command_success]; all 17 other tests pass.

5. Test plan

pytest source/isaaclab_experimental/test/ — 201 passed, 1 skipped
Reverting the twins fails the sweep, naming both tasks and both missing symbols
Mutation checks: stale view → only the capture test fails; reject-form predicate → only the NaN test; dropped sticky write → the threshold tests; wxyz quaternion → only the orientation cases
Training, 4096 envs / 150 iters / --frontend warp presets=newton_mjwarp:

Task	Training time	Reward start → end	`Metrics/success_rate`
`Isaac-Reach-Franka`	91.76 s	−0.63 → −0.49	0.78
`Isaac-Reach-UR10`	72.25 s	−2.43 → 0.03	0.99

With the sticky write reverted, Franka trains identically (episode length still falls 360 → 252, so terminations fire) but Metrics/success_rate stays 0.0000 for all 150 iterations — the metric bug in isolation.

uv run isaaclab -f clean

6. Out of scope

source/isaaclab_ppisp/ has the same CI hole (4 uncollected test files).
Three observation terms have no capture coverage yet: joint_pos_rel, joint_vel_rel, body_incoming_wrench.
isaaclab_tasks_experimental has no test directory, so its twenty pre-existing per-task twins have no parity or capture coverage anywhere. They are recorded in the gate's backlog rather than assumed correct.
Warp orientation-error twins use 2*acos(|w|) where the stable path normalizes first; the two differ by ~7e-4 rad at float32, far below any configured threshold. Pre-existing in orientation_command_error; left consistent rather than changed in one place.

The Reach task configs gained `rewards.success` and `terminations.success`, which resolve to `is_terminated_term` and `pose_command_success`. Neither had a warp counterpart, so `--frontend warp` rejected Isaac-Reach-Franka and Isaac-Reach-UR10 at env construction. `is_terminated_term` is a ManagerTermBase subclass rather than a plain function, so the twin is a class too: the warp RewardManager instantiates it at _prepare_terms and calls the instance. It resolves the term selection to a column mask once at init and reads the per-term done buffer, which is exposed as a new `term_dones_wp` property. `pose_command_success` recomputes the pose error in a kernel instead of copying the stable term's result. `UniformPoseCommand._compute_success` allocates a fresh tensor per call, so its pointer moves between steps; a captured CUDA graph records source pointers at capture time and would replay against a stale buffer. The command's sticky success tracker stays correct because `_update_metrics` already ORs the same value in on every step. Parity tests cover both twins against the stable implementations, eager and under graph capture. The pose-command fixture derives its command from each body's actual pose plus a known error so the errors straddle the thresholds -- a command sampled independently misses every threshold and compares all-False, which passes against almost any kernel.

The list of tasks that `--frontend warp` accepts was maintained by hand, so it only covered a task once someone remembered to add it. Sweeping the gym registry instead shows the record had already drifted: four contrib velocity tasks adapt cleanly and were never listed. The sweep runs `check_compatibility` over every registered stable manager-based task. That is pure config-tree work with no simulator, so all 104 resolve in about ten seconds. The checked-in set is now a regression pin rather than an allowlist. Losing a task always fails. Gaining one fails too, but only when every candidate config was importable, since an environment missing optional dependencies cannot see the full set; those tasks are named in the skip message rather than silently dropped. `check_compatibility` calls `adapt_cfg` and returns the reason instead of raising, so the verdict cannot drift from what the frontend actually does.

Every test job either names a package with a positive filter or, for the core jobs, excludes anything matching `isaaclab_`. No job named this package, so all nine of its test files fell between the two forms and were collected by nothing. Replaying the filter logic over the tree shows test files matched by no job dropping from thirteen to four; the remainder belong to isaaclab_ppisp and are left for a separate change.

Resolving the command term, its thresholds, the tracked body index and the warp view of the command buffer per call left non-capturable work on the hot path, including a hasattr-guarded warm-up cache on the function object. All of it is fixed for the run, so it belongs in __init__; __call__ is now a single kernel launch. The command manager is constructed before the termination manager, so the lookup is available at init.

A two-line ternary used twice does not need a named helper.

Three divergences from the stable term, each with a regression test that fails when the change is reverted. The sticky per-episode success bit was never set. The stable term ORs it inside compute_success(), which runs before the episode is reset; the twin only wrote the termination output, and _update_metrics() runs after reset() has already read and cleared the tracker, so a terminating step went unrecorded. The write now happens in the kernel rather than after the launch, because the termination manager runs graph-captured by default and host-side work between launches is not replayed. The threshold comparisons were reject predicates ("veto when error >= bound"), which leave a non-finite error reported as success -- terminating and rewarding a diverged environment. They are accept predicates now, matching the stable `error < bound` and failing closed. A negative threshold was encoded as "not configured". UniformPoseCommandCfg accepts any float without validation, so a configured negative bound was silently ignored instead of denying success. Configuredness is carried as its own flag. Thresholds stay resolved at init; the docstring now records that a curriculum mutating them at runtime is not honoured, since a kernel scalar is baked into the graph at capture.

Managers run graph-captured by default, so a term that is not capture-safe is on the normal execution path, not an edge case. Capture-and-replay alone does not prove safety: replaying against unchanged memory re-reads the same valid bytes, so a term holding a stale pointer still looks correct. Each term here is captured, has its inputs overwritten in place, then replayed and compared against the stable implementation on the new data. Terms are discovered from the warp MDP modules rather than listed, so a new term without a declaration fails the gate. Declaring one takes a CaptureSpec naming its modality and a builder that wires up the environment, parameters and in-place mutation; the runner is shared. Enumerating also separated three groups that convention had blurred: terms already covered by the hand-written mutation classes, three observation terms with no capture coverage anywhere, and eight event terms that cannot be captured at all because they launch over a variable env_ids subset at reset cadence.

…ach-mdp-twins

Isaac-Ant and Isaac-Humanoid stopped adapting under --frontend warp when the locomotion reward cfg gained `terminated_penalty` and `survival_success_rate`; neither had a warp counterpart, which the registry sweep reports as lost support. `survival_success_rate` follows the cartpole twin: counts are accumulated on device and the rate is exposed as a persistent tensor view through the reward manager's reset extras, so no host readback happens where the stable term calls .item(). The capture-safety gate now also walks the per-task warp mirrors under isaaclab_tasks_experimental, not just the shared modules, so a twin added to a task mirror is held to the same declaration rule. Enumerating them shows that package has no test directory at all: all twenty pre-existing per-task twins are recorded as having no coverage rather than assumed fine. CaptureSpec gains expect_nonzero so a term whose output is constant by design -- survival_success_rate writes zeros, its real work being in reset() -- can be exercised without the non-degeneracy guard rejecting it.

…ach-mdp-twins

2*acos(|w|) reads the scalar part as a cosine, which holds only for a unit quaternion and is ill-conditioned as the error approaches zero: w = cos(theta/2) carries theta only at second order, so in float32 the value rounds to exactly 1 and the reported angle collapses to 0 below roughly 1e-4 rad. Measured against the analytic angle, 2*acos is 2.3% low at 1e-3 rad and returns zero at 1e-4. 2*atan2(|xyz|, |w|) recovers the angle from the ratio, where the numerator carries theta at first order. It is exact across the same range and independent of the quaternion's norm. This matters most for orientation_command_error, a continuous reward whose error shrinks toward zero as a policy converges -- precisely where acos stops resolving. pose_command_success gates on a threshold three orders of magnitude above the affected range, but computes the same quantity, so both use one form. survival_success_rate no longer substitutes 0.0 when a reset selects no environments: the stable term's mean over an empty selection is NaN, and publishing a real 0% sample misreports it as a measurement.

Both gates could report success while the property they guard was violated. Terms were keyed by bare name, but survival_success_rate is defined by both the cartpole and locomotion mirrors, so a spec for one marked the other declared. Identity is now module-qualified throughout discovery, specs and the backlog. Discovery skipped action terms even though ActionManager is graph-captured like every other manager, leaving three of them unable to fail the declaration check. The event-term rows claimed a variable env_ids launch dim made them uncapturable. That is not what they do -- every one launches over env.num_envs with a boolean mask, which is the capture-safe form -- and four already have capture coverage in the events parity file. The rows now say which are covered and which are simply untested. The runner captured only each term's output call, so a stateful write moved to host code would replay as a no-op unnoticed. Terms may now assert their side effects after replay, and that assertion runs before the stable reference is called: the stable terms write the same shared state they are compared against, so calling the reference first repaired exactly what the assertion checks. The registry sweep matched only string cfg entry points and silently omitted any other supported form; it now loads through load_cfg_from_registry.

…ach-mdp-twins

greptile-apps · 2026-08-12T23:01:38Z

Greptile Summary

This PR restores Warp frontend support for Reach, Ant, and Humanoid tasks while adding registry-derived compatibility and CUDA-graph capture-safety coverage.

Adds Warp twins for pose-command success, selected termination penalties, locomotion termination penalties, and survival metrics.
Exposes per-term Warp termination buffers and updates orientation-error handling.
Adds an experimental-package CI job and broader parity, capture-replay, and registry-sweep tests.

Confidence Score: 4/5

The PR appears safe to merge functionally, with one non-blocking CI supply-chain hardening issue to address.

The Warp twins and their coverage align with the stable manager contracts examined; the remaining concern is the mutable checkout action reference in the newly added self-hosted CI job.

Files Needing Attention: .github/workflows/build.yaml

Security Review

The new experimental-package CI job references actions/checkout through a mutable version tag on a self-hosted runner. Pinning the action to an immutable commit would harden the job against tag retargeting.

Important Files Changed

Filename	Overview
source/isaaclab_experimental/isaaclab_experimental/envs/mdp/terminations.py	Adds a capture-safe pose-command success twin with stable-compatible pose checks and sticky success tracking.
source/isaaclab_experimental/isaaclab_experimental/envs/mdp/rewards.py	Adds a selected-termination reward twin backed by the manager's ordered per-term done buffer.
source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/core/locomotion/mdp/rewards.py	Adds graph-capturable termination-penalty and survival-success metric twins.
source/isaaclab_experimental/test/envs/mdp/test_capture_safety.py	Adds discovery-based capture declarations and mutated-input replay parity checks for Warp MDP terms.
source/isaaclab_experimental/test/envs/test_frontend_cfg_conversion.py	Replaces manually selected adaptation coverage with a registry sweep and pinned supported-task regression set.
.github/workflows/build.yaml	Adds CI coverage for isaaclab_experimental, but the new self-hosted job uses a mutable checkout action reference.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    Registry[Registered manager-based tasks] --> Sweep[Warp compatibility sweep]
    Sweep --> Adapt[WarpFrontend.adapt_cfg]
    Adapt --> Twins[Warp MDP twins]
    Twins --> Managers[Graph-captured managers]
    Managers --> Replay[Capture and mutated-input replay tests]
    Replay --> Stable[Stable-term parity comparison]

_{Reviews (1): Last reviewed commit: "Merge remote-tracking branch 'upstream/d..." | Re-trigger Greptile}

greptile-apps · 2026-08-12T23:01:42Z

+      github.event_name != 'push' &&
+      needs.build.result == 'success'
+    steps:
+    - uses: actions/checkout@v6


Mutable checkout action reference

The new self-hosted CI job executes actions/checkout@v6, whose tag can be retargeted without a repository change, exposing the runner to unreviewed action code. Pin this dependency to a full commit SHA so the executed workflow remains immutable. How this was verified: The added job directly invokes actions/checkout using the mutable v6 tag on a self-hosted runner.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

isaaclab-review-bot

Isaac Lab Review Bot

The Warp frontend restoration is internally consistent: the new MDP twins, registry-derived support sweep, capture/replay coverage, CI package job, exports, and changelog fragments align with the affected execution paths. No candidate finding establishes a current contract violation requiring a pre-merge fix.

Design and architecture: The frontend model remains coherent: check_compatibility delegates to the actual in-place adaptation path, and the new class terms follow the existing preallocated-output and graph-captured manager patterns. The pose-success twin intentionally aliases the stable command term's persistent private success buffer; this is a maintenance coupling, but the implementation documents the allocation assumption and tests the sticky write through replay, so the candidate does not demonstrate a present failure.
API: WarpFrontend.check_compatibility and TerminationManager.term_dones_wp are additive and documented, including mutation and buffer-order semantics. The locomotion symbols are exported through the package stub. The is_terminated_term call signature preserves the manager-term parameter shape while resolving its selection at initialization, consistent with the class-term configuration model; the candidate did not establish a broken consumer or changed stable contract.
Implementation: The changed producer and consumer paths were traced for per-term termination columns, timeout masking, pose-error calculation, sticky success tracking, locomotion metrics, task discovery, and CUDA-graph replay after in-place input mutation. The initialization-time freezing of pose thresholds is a disclosed behavioral tradeoff under capture rather than an unreported defect.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

StafaH · 2026-08-13T00:43:56Z

+            kernel=_is_terminated_term_kernel,
+            dim=env.num_envs,
+            inputs=[
+                env.termination_manager.term_dones_wp,


Let's avoid the _wp suffiex (it might be already there from before but it's cleaner without it)

StafaH · 2026-08-13T00:45:45Z



+@wp.kernel
+def _is_terminated_term_kernel(


This could actually be a 2D kernel, or even a tiled kernel. The tile is of shape tile_mask, and we can use tile_sum() or a tile_map().

(You can ignore this comment for now, I noticed that many of the kernels could be written in a much more optimized way, which we can tackle later)

StafaH · 2026-08-13T00:47:02Z

+        des_b = wp.vec3f(cmd[i, 0], cmd[i, 1], cmd[i, 2])
+        des_w = root_pos_w[i] + wp.quat_rotate(root_quat_w[i], des_b)
+        cur_w = body_pos_w[i, body_idx]
+        dx = cur_w[0] - des_w[0]


cur_w - des_w?

StafaH · 2026-08-13T00:58:34Z

+        # carry "configured" as its own flag: a threshold is any float, so no value can encode absence
+        position_threshold = command.cfg.position_success_threshold
+        orientation_threshold = command.cfg.orientation_success_threshold
+        self._check_position = position_threshold is not None


One thing you can do here and elsewhere is that thing like check_position can actually be used as wp.static inside the kernel definition. To do that you would need to define the kernel here inside init or in call.

StafaH · 2026-08-13T01:00:12Z

+
+    rng = np.random.RandomState(seed)
+    data = articulation.data
+    root_pos = data.root_pos_w.torch.cpu().numpy()


This looks weird. Whats wrong with root_pos_w.numpy()?

StafaH · 2026-08-13T01:10:12Z

+    return term
+
+
+class MockPoseCommandManager:


HIgh level question, why do we need mocks? I prefer that tests use the original code if it is cheap to do so. The only exception are really expensive classes like Newton Model

StafaH · 2026-08-13T01:10:27Z

+        rng = np.random.RandomState(seed)
+        dones_np = rng.rand(num_envs, len(self.active_terms)) < 0.3
+        self.term_dones = torch.tensor(dones_np, dtype=torch.bool, device=device)
+        self.term_dones_wp = wp.from_torch(self.term_dones)


Proxy Arrays here and elsewhere?

StafaH · 2026-08-13T01:11:48Z

+# Stable task ids that adapt cleanly under ``--frontend warp``, as produced by
+# :func:`_sweep_warp_support`. Do not curate this by hand: when the test fails it prints the
+# exact set to paste back.
+_WARP_SUPPORTED_TASKS = frozenset(


Any way we can track the warp supported envs automatically?

StafaH · 2026-08-13T01:12:32Z

+    return "{\n" + "".join(f"    {task_id!r},\n" for task_id in sorted(task_ids)) + "}"
+
+
+def test_warp_supported_task_set_matches_the_registry():


Ignore above comment, it looks like we already are searching automatically. So why do we need to compare to a hardcoded list

The goal is to enforce support. If it's resolved dynamically, it also means that torch mdp changes could break warp support. So the goal is to gradually add all parity mdps. And if we have all the envs supported, we can flip the test to ensure all envs are supported.

StafaH · 2026-08-13T01:13:22Z

+
+
+@wp.kernel
+def _survival_rate_kernel(


This is not even a real kernel?

Addresses review comments on #6900. - The pose-command parity fixture reached numpy via `.torch.cpu().numpy()`, routing warp buffers through a torch view and a host copy to get data warp hands back directly. Now uses `.warp.numpy()`. - `UniformPoseCommand` imports moved to the top of the file; they were local without a cycle to justify it. `ProxyArray.numpy()` is not equivalent and was tried first: unknown attributes forward to the torch view, so it inherits torch's CPU-only restriction and raises on the cuda tensors these fixtures use. Not included, raised on #6900 and better handled separately: - Dropping the `_wp` suffix. `term_dones_wp` belongs to a family of six (`time_outs_wp`, `dones_wp`, `terminated_wp`, `_truncated_wp`, `_terminated_wp`, `_scratch_term_mask_wp`); renaming one leaves the package less consistent than it is now. A rename of the family, with deprecations, is its own change. - `wp.static` for the resolved threshold flags, and 2D/tiled rewrites of the reward kernels. Both are optimizations that change how the kernels are defined and warrant their own benchmarking. ## Release backport - [x]  Backport this pull request to the active release branch after it merges into `develop` Test plan: - [x] `pytest source/isaaclab_experimental/test/` — 205 passed, 1 skipped - [x] `uv run isaaclab -f` clean

Addresses review comments on #6900. - The pose-command parity fixture reached numpy via `.torch.cpu().numpy()`, routing warp buffers through a torch view and a host copy to get data warp hands back directly. Now uses `.warp.numpy()`. - `UniformPoseCommand` imports moved to the top of the file; they were local without a cycle to justify it. `ProxyArray.numpy()` is not equivalent and was tried first: unknown attributes forward to the torch view, so it inherits torch's CPU-only restriction and raises on the cuda tensors these fixtures use. Not included, raised on #6900 and better handled separately: - Dropping the `_wp` suffix. `term_dones_wp` belongs to a family of six (`time_outs_wp`, `dones_wp`, `terminated_wp`, `_truncated_wp`, `_terminated_wp`, `_scratch_term_mask_wp`); renaming one leaves the package less consistent than it is now. A rename of the family, with deprecations, is its own change. - `wp.static` for the resolved threshold flags, and 2D/tiled rewrites of the reward kernels. Both are optimizations that change how the kernels are defined and warrant their own benchmarking. ## Release backport - [x]  Backport this pull request to the active release branch after it merges into `develop` Test plan: - [x] `pytest source/isaaclab_experimental/test/` — 205 passed, 1 skipped - [x] `uv run isaaclab -f` clean (cherry picked from commit 318abfd)

hujc7 added 3 commits August 4, 2026 15:38

github-actions Bot added isaac-lab Related to Isaac Lab team infrastructure labels Aug 4, 2026

hujc7 added 11 commits August 4, 2026 15:56

Inline the success-threshold sentinel encoding

446f417

A two-line ternary used twice does not need a named helper.

Merge remote-tracking branch 'upstream/develop' into jichuanh/warp-re…

579021d

…ach-mdp-twins

Merge remote-tracking branch 'upstream/develop' into jichuanh/warp-re…

ab81ef2

…ach-mdp-twins

Merge remote-tracking branch 'upstream/develop' into jichuanh/warp-re…

2b8d47b

…ach-mdp-twins

Merge remote-tracking branch 'upstream/develop' into jichuanh/warp-re…

f3e3881

…ach-mdp-twins

hujc7 marked this pull request as ready for review August 12, 2026 22:58

hujc7 requested a review from a team August 12, 2026 22:58

hujc7 requested review from AntoineRichard, kellyguo11 and myurasov-nv as code owners August 12, 2026 22:58

greptile-apps Bot reviewed Aug 12, 2026

View reviewed changes

isaaclab-review-bot Bot reviewed Aug 12, 2026

View reviewed changes

StafaH approved these changes Aug 13, 2026

View reviewed changes

kellyguo11 merged commit 76db3be into isaac-sim:develop Aug 13, 2026
76 of 80 checks passed

This was referenced Aug 13, 2026

[Warp] Read parity fixture poses through the warp accessor #7060

Merged

[CI] Run the isaaclab_ppisp tests #7085

Closed

		return "{\n" + "".join(f" {task_id!r},\n" for task_id in sorted(task_ids)) + "}"


		def test_warp_supported_task_set_matches_the_registry():

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hujc7 commented Aug 4, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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1. Summary

2. Why the existing gate did not catch it

3. Twin semantics

4. Capture-safety gate

5. Test plan

6. Out of scope

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greptile-apps Bot commented Aug 12, 2026

Greptile Summary

Confidence Score: 4/5

Security Review

Important Files Changed

Flowchart

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hujc7 commented Aug 4, 2026 •

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