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More Information

Rendering Quality
Low, 200x200 Low, 500x500 High, 200x200 High, 500x500

FPS

FPS of the environment depends on agents, control types, furniture models, and quality of rendering. To get a high FPS, the user can adjust control_freq, action_repeat, screen_width, screen_height, quality (rendering quality including shadow and illumination). We measure FPS on furniture model table_lack_0825, which has 5 parts, with the default configuration. The environment can be parallelized by specifying different port numbers and each Unity instance uses around 300 MB of GPU memory.

macOS

  • Macbook Pro 15 with Intel i7 Quad-Core @ 2.7GHz and Radeon Pro 455 2GB
Quality Resolution Sawyer (Impedance) Sawyer (IK) Baxter (Impedance) Baxter (IK) Cursor Image
No rendering N/A 180 30 100 23 250 N/A
Low 200x200 80 19 75 19 138
Low 500x500 61 17 60 16 92
High 200x200 44 14 32 8 80
High 500x500 34 13 26 7 69

ubuntu

  • Headless server with Intel Xeon Gold 6154 72-Core @ 3.00GHz and GeForce RTX 2080 Ti
Quality Resolution Sawyer (Impedance) Sawyer (IK) Baxter (Impedance) Baxter (IK) Cursor
No rendering N/A 225 44 158 28 491
Low 200x200 65 26 54 17 95
Low 500x500 52 24 45 17 65
High 200x200 32 16 28 15 49
High 500x500 28 16 24 15 42