diff --git a/docs/index.md b/docs/index.md index 72adfc3..9e449e0 100644 --- a/docs/index.md +++ b/docs/index.md @@ -107,6 +107,26 @@ were pre-registered, and one of them is falsified. The numbers, the recorded environment of both processes, and what none of it supports: [E11](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e11-vla-rl-libero). +## The environment side needs neither CUDA nor a GPU + +The training server is 6.5G and wants a GPU. The machine running environments +does not have to be either. A LIBERO env client installs at **3.4G with no +nvidia wheels** instead of 7.8G with sixteen, sending byte-identical +observations, and renders on the **CPU** - ten clients at once, 30 of 30 +episodes successful, at **1.91x** the wall clock of the same run on a GPU. + +The catch is that 1.91x, and the numbers that make it: stepping is 10x slower +in software, and most but not all of that hides behind the queue of clients +waiting on one policy. + +This overturns a conclusion the project had already published. E1 measured a +robomimic-class env client at 7.2G with CUDA and said the environment side does +need a GPU; that was true of a default install, where `torch` brings CUDA along +whether or not anything uses it. [E12](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e12-cuda-free-rollout) +reproduced E1's row exactly before changing one pin, and +[E13](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e13-gpu-free-rendering) +measured what rendering without a GPU costs. + ## Components - `plugrl-server`: training server, runs algorithm, policy, checkpoints, tracking diff --git a/docs/index.zh.md b/docs/index.zh.md index 1f5baf7..1947aed 100644 --- a/docs/index.zh.md +++ b/docs/index.zh.md @@ -94,6 +94,22 @@ FPO 用回传的反馈训练。边界本身没有任何改动,变的只是策 进程各自被记录下来的环境,以及这些数据**不能**支持的结论,见 [E11](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e11-vla-rl-libero)。 +## 环境端既不需要 CUDA,也不需要 GPU + +训练端有 6.5G,而且要一张显卡;跑环境的那台机器不必如此。LIBERO 环境端可以装成 +**3.4G、零个 nvidia wheel**(原本是 7.8G 带十六个),发出的观测逐字节相同,并且能在 +**CPU 上渲染**——十个客户端同时跑,30 个回合全部成功,代价是 **1.91 倍**墙钟。 + +代价就在这 1.91 倍上,构成它的数字是:软件渲染的单步慢 10 倍,其中大部分、但不是 +全部,被"多个客户端排队等同一个策略"的等待所掩盖。 + +这推翻了本项目自己已经写下的结论。E1 曾测得 robomimic 类环境端 7.2G 且带 CUDA,并 +断言这类环境的环境端**确实**需要 GPU——那对**默认安装**是成立的,因为 Linux 上 +`torch` 无论用不用都会把 CUDA 一起带来。[E12](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e12-cuda-free-rollout) +先原样复现了 E1 那一行,再只改一个版本钉定; +[E13](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e13-gpu-free-rendering) +则量出了无 GPU 渲染的代价。 + ## 组件 - `plugrl-server`:训练端,负责算法、策略、checkpoint、指标追踪