Teleop using VNC connecting cloud server so slow

[wzds2015]

I am testing teleop example showing on this page: https://maniskill.readthedocs.io/en/latest/user_guide/data_collection/teleoperation.html

I am using RealVNC to connect cloud server. The operation is very slow (show int he video attached). Is there any way to increase the FPS?

Settings,

1. GPU: RTX A6000 50G
2. vulkan: 1.13.204
3. system: ubuntu 22.04
4. Xvfb window: 1024x768x24
5. RealVNC: 7.12.1 (r21) ARMv8-A (Macbook version)

WhatsApp.Video.2024-11-02.at.21.58.26.mp4

[StoneT2000]

It might be due to a weak GPU (for rendering RTX gpus work best typically). Could you try running python -m mani_skill.examples.demo_random_action -e "StackCube-v1" --render-mode "human" and let me know how smooth that is? That scripts takes random actions and by default does not use ray-tracing (the teleop tool right now seems to always turn on a fast ray tracing setup). If the default view looks fine over VNC then I will add the option to disable ray-tracing in the teleop tool.

VNC is known (for any simulator as well) to be not very good and have high latency. The best recommendation is to find a machine with a GPU that is attached to a display, or use an app like teamviewer to access a machine with a display.

[wzds2015]

python -m mani_skill.examples.demo_random_action -e "StackCube-v1" --render-mode "human"

I tried the command you suggested. Also I lowered the resolution of X11VNC from 1920P to 1024P. Now it looks better.

Can you let me know how to turn off ray tracing? Also I might look into TeamViewer as well.

Screen.Recording.2024-11-03.at.11.03.17.AM.mp4