genesis ยท diff
git:20260703.774344b to git:20260922.9195b5e
23 added, 0 removed. Audit A to A.
---
name: genesis
description: Use when working on Genesis simulation, RL teacher training, visual demo generation, or related serverless/EGL behavior.
---
# Genesis
Genesis is the GPU-accelerated physics simulation tool. It uses vendored `genesis.ext.pyrender` plus PyOpenGL EGL.
## Current Capability
- RL teacher training works headless on Nebius AI Jobs with Mesa llvmpipe fallback.
- Serverless RL teacher training works.
- 480x640 targeted renders pass via Mesa; scale performance is untested.
## Rendering Gap
Visual demo generation is blocked on EGL/DRI device access in containers. `libEGL_nvidia.so.0` is absent despite graphics capability environment variables, so workloads fall back to Mesa, which cannot scale.
Serverless visual demo generation is blocked by the same EGL/DRI issue.
BatchRenderer/Madrona is deferred; do not prioritize it. There is no platform escalation pending and no `BUNDLE_EGL_NVIDIA` action item.
## Validation
E2E: 8/8 passing except visual demo generation.
+ ## Teacher checkpoint compatibility
+
+ The RSL-RL 5 migration uses separate MLP actor and critic configurations and
+ TensorDict observation groups. Preserve deterministic legacy ActorCritic loading
+ and the current MLPModel checkpoint path. Load external checkpoints only with
+ `weights_only=True`; never route them through the upstream unrestricted runner
+ loader. Validate action and observation widths, normalization, and real ONNX
+ outputs. CPU PPO round trips cover the framework contract; promotion still
+ requires the Genesis GPU workload and camera-demo checks.
+
+ Run the committed migration check in the candidate GPU environment:
+
+ ```bash
+ NPA_VALIDATION_SOURCE_SHA="$(git rev-parse HEAD)" \
+ npa/.venv/bin/python npa/scripts/validate_genesis_rsl_migration.py \
+ --output-path /tmp/genesis-rsl-validation
+ ```
+
+ It trains in real physics, compares the restricted loader and ONNX Runtime
+ against the upstream actor, and records real camera arrays. The short training
+ run checks framework compatibility; its report preserves the actual teacher
+ success rate and explicitly labels any failure demonstrations.
+