Improving Holodeck Performance

Holodeck is fairly performant by default, but you can also sacrifice features to increase your frames per second.

RGBCamera

By far, the biggest single thing you can do to improve performance is to disable the RGBCamera. Rendering the camera every frame causes a context switch deep in the rendering code of the engine, which has a significant performance penalty.

This chart shows how much performance you can expect to gain or loose adjusting the RGBCamera (left column is frame time in milleseconds)

Resolution

UrbanCity

MazeWorld

AndroidPlayground

No Camera

8.55 ms

117 fps

4.69 ms

213 fps

2.47 ms

405 fps

64

17 ms

59 fps

11 ms

91 fps

4.87 ms

205 fps

128

20 ms

50 fps

11.6 ms

86 fps

5.59 ms

179 fps

256

22 ms

45 fps

14.71 ms

68 fps

9.02 ms

111 fps

512

35 ms

29 fps

30.8 ms

32 fps

24.81 ms

40 fps

1024

89 ms

11 fps

84.2 ms

12 fps

94.55 ms

11 fps

2048

410 ms

2 fps

383 ms

3 fps

366 ms

3 fps

Disabling the RGBCamera

 Remove the RGBCamera entry from the scenario configuration file you are using.

See Custom Scenario Configurations.

Lowering the RGBCamera resolution

Lowering the resolution of the RGBCamera can also help speed things up. Create a custom scenario and in the configuration block for the RGBCamera set the CaptureWidth and CaptureHeight.

See RGBCamera for more details.

Changing ticks per capture

The number of ticks per capture can be adjusted to give a lower average frame time.

See the set_ticks_per_capture() method.

Disable Viewport Rendering

Rendering the viewport window can be unnecessary during training. You can disable the viewport with the should_render_viewport() method.

At lower RGBCamera resolutions, you can expect a ~40% frame time reduction.

Change Render Quality

You can adjust Holodeck to render at a lower (or higher) quality to improve performance. See the set_render_quality() method

Below is a comparison of render qualities and the frame time in ms

Quality

MazeWorld

UrbanCity

AndroidPlayground

0

10.34

12.33

6.63

1

10.53

15.06

6.84

2

14.81

19.19

8.66

3

15.58

21.78

9.2