Add MPS (Apple Silicon) support via jax-mps#69
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Pull request overview
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Copilot was unable to run its full agentic suite in this review.
Adds Apple Silicon (MPS) support by introducing an mps extra dependency, documenting installation/usage, and tweaking MJX model/data creation to work with jax-mps.
Changes:
- Add
mpsoptional dependency (jax-mps) inpyproject.toml. - Update
Sim.build_mjx_modelto force the JAX implementation when running on MPS. - Document MPS installation and usage in the README.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| pyproject.toml | Adds an mps extra to install jax-mps. |
| crazyflow/sim/sim.py | Forces MJX to use the JAX impl for MPS devices. |
| README.md | Documents crazyflow[mps] installation and MPS runtime notes. |
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| # MJX does not recognize 'mps' as a platform; force JAX impl to work with jax-mps. | ||
| impl = "JAX" if self.device.platform == "mps" else None | ||
| mjx_model = mjx.put_model(mj_model, device=self.device, impl=impl) | ||
| mjx_data = mjx.put_data(mj_model, mj_data, device=self.device, impl=impl) |
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| [project.optional-dependencies] | ||
| gpu = ["jax[cuda12]"] | ||
| mps = ["jax-mps"] |
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| impl = "JAX" if self.device.platform == "mps" else None | ||
| mjx_model = mjx.put_model(mj_model, device=self.device, impl=impl) | ||
| mjx_data = mjx.put_data(mj_model, mj_data, device=self.device, impl=impl) |
Always pass impl='JAX' to mjx.put_model/put_data — this works with any JAX backend (cpu, gpu, tpu, mps) and avoids MJX's platform whitelist check that rejects unknown platforms. Add mps optional dependency to pyproject.toml. Document MPS usage in README.
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Hey @vlordier , thanks for the PR. As far as I know, there is a |
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Summary
Enables crazyflow to run on Apple Silicon Macs using the jax-mps plugin, which exposes Apple's Metal Performance Shaders as a JAX backend.
Changes
impl='JAX'tomjx.put_model/mjx.put_datawhendevice.platform == 'mps'. MJX's_resolve_implonly recognizescpu,gpu, andtpuplatforms; forcing the JAX impl bypasses this check while still placing data on the MPS device.mps = ["jax-mps"]optional dependency.Testing
All 331 tests (262 unit + 69 integration) pass on an M-series MacBook Pro with
JAX_MPS_ASYNC_DISPATCH=1. Thedevice='cpu'tests also pass since jax-mps auto-registers alongside the CPU backend.Performance (first-principles physics, 1 drone)