CUDA Kernel Notes

GPU Setup @ Ubuntu22+i7+3090

• Disable nouveau!!!¹

  <!-- sudo gedit /etc/modprobe.d/blacklist-nouveau.conf -->
  blacklist nouveau
  options nouveau modeset=0
  

• Install driver sudo apt install nvidia-driver-*** to support dual monitors
• Install CUDA Toolkit 11.8²

• Install cuDNN 8.6³

  sudo dpkg -i cudnn-local-repo-ubuntu2204-8.6.0.163_1.0-1_amd64.deb
  sudo cp /var/cudnn-local-repo-ubuntu2204-8.6.0.163/cudnn-local-FAED14DD-keyring.gpg /usr/share/keyrings/
  sudo apt-get update
  sudo apt-get install libcudnn8=8.6.0.163-1+cuda11.8
  sudo apt-get install libcudnn8-dev=8.6.0.163-1+cuda11.8
  sudo apt-get install libcudnn8-samples=8.6.0.163-1+cuda11.8
  

• (optional) sudo apt install libstdc++-12-dev⁴
• a tool: pip3 install --upgrade nvitop⁵

Toolkit:

• Python
• C++
• CUDA = Compute Unified Device Architecture
• PyTorch (A replacement for NumPy to use the power of GPUs)
• pybind11
• CasADi

A kernel is executed in parallel by an array of threads:

• All threads run the same code
• Each thread has an ID that it uses to compute memory addresses and make control decisions

Materials:

• Introduction to GPUs: CUDA
• C++/CUDA Extensions in PyTorch
• PyTorch Cheat Sheet
• pytorch-cppcuda-tutorial
• Learning 4 CasADi Framework
• CUDA Accelerated Robot Library
• CUDA Toolkit Documentation
  • CUDA C++ Best Practices Guide
  • CUDA C++ Programming Guide
  • CUDA DEBUGGING
• GPU编程(CUDA)
• CUDA Programming

Simulator

• MJX = Brax(Google Research) ❤️ MuJoCo⁶(DeepMind)
  • JAX⁷ & CUDA using pip wheels! pip install --upgrade "jax[cuda11_pip]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
• Tiny Differentiable Simulator
  • C++ & CUDA
• Isaac Gym
  • Python 3.8!
  • PyTorch & CUDA

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1. https://qiita.com/porizou1/items/74d8264d6381ee2941bd ↩

2. https://developer.nvidia.com/cuda-11-8-0-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=runfile_local ↩

3. https://docs.nvidia.com/deeplearning/cudnn/archives/cudnn-860/install-guide/index.html#installlinux-deb ↩

4. https://stackoverflow.com/questions/74543715/usr-bin-ld-cannot-find-lstdc-no-such-file-or-directory-on-running-flutte ↩

5. https://github.com/XuehaiPan/nvitop ↩

6. https://github.com/google/brax/discussions/409 ↩

7. https://jax.readthedocs.io/en/latest/notebooks/quickstart.html ↩