warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/autograd.py

@@ -0,0 +1,1142 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import inspect
+import itertools
+from typing import Any, Callable, Dict, List, Sequence, Tuple, Union
+
+import numpy as np
+
+import warp as wp
+
+__all__ = [
+    "jacobian",
+    "jacobian_fd",
+    "gradcheck",
+    "gradcheck_tape",
+    "jacobian_plot",
+]
+
+
+def gradcheck(
+    function: Union[wp.Kernel, Callable],
+    dim: Tuple[int] = None,
+    inputs: Sequence = None,
+    outputs: Sequence = None,
+    *,
+    eps: float = 1e-4,
+    atol: float = 1e-3,
+    rtol: float = 1e-2,
+    raise_exception: bool = True,
+    input_output_mask: List[Tuple[Union[str, int], Union[str, int]]] = None,
+    device: wp.context.Devicelike = None,
+    max_blocks: int = 0,
+    block_dim: int = 256,
+    max_inputs_per_var: int = -1,
+    max_outputs_per_var: int = -1,
+    plot_relative_error: bool = False,
+    plot_absolute_error: bool = False,
+    show_summary: bool = True,
+) -> bool:
+    """
+    Checks whether the autodiff gradient of a Warp kernel matches finite differences.
+    Fails if the relative or absolute errors between the autodiff and finite difference gradients exceed the specified tolerance, or if the autodiff gradients contain NaN values.
+
+    The kernel function and its adjoint version are launched with the given inputs and outputs, as well as the provided
+    ``dim``, ``max_blocks``, and ``block_dim`` arguments (see :func:`warp.launch` for more details).
+
+    Note:
+        This function only supports Warp kernels whose input arguments precede the output arguments.
+
+        Only Warp arrays with ``requires_grad=True`` are considered for the Jacobian computation.
+
+        Structs arguments are not yet supported by this function to compute Jacobians.
+
+    Args:
+        function: The Warp kernel function, decorated with the ``@wp.kernel`` decorator, or any function that involves Warp kernel launches.
+        dim: The number of threads to launch the kernel, can be an integer, or a Tuple of ints. Only required if the function is a Warp kernel.
+        inputs: List of input variables.
+        outputs: List of output variables. Only required if the function is a Warp kernel.
+        eps: The finite-difference step size.
+        atol: The absolute tolerance for the gradient check.
+        rtol: The relative tolerance for the gradient check.
+        raise_exception: If True, raises a `ValueError` if the gradient check fails.
+        input_output_mask: List of tuples specifying the input-output pairs to compute the Jacobian for. Inputs and outputs can be identified either by their integer indices of where they appear in the kernel input/output arguments, or by the respective argument names as strings. If None, computes the Jacobian for all input-output pairs.
+        device: The device to launch on (optional)
+        max_blocks: The maximum number of CUDA thread blocks to use.
+        block_dim: The number of threads per block.
+        max_inputs_per_var: Maximum number of input dimensions over which to evaluate the Jacobians for the input-output pairs. Evaluates all input dimensions if value <= 0.
+        max_outputs_per_var: Maximum number of output dimensions over which to evaluate the Jacobians for the input-output pairs. Evaluates all output dimensions if value <= 0.
+        plot_relative_error: If True, visualizes the relative error of the Jacobians in a plot (requires ``matplotlib``).
+        plot_absolute_error: If True, visualizes the absolute error of the Jacobians in a plot (requires ``matplotlib``).
+        show_summary: If True, prints a summary table of the gradient check results.
+
+    Returns:
+        True if the gradient check passes, False otherwise.
+    """
+
+    if inputs is None:
+        raise ValueError("The inputs argument must be provided")
+
+    metadata = FunctionMetadata()
+
+    jacs_ad = jacobian(
+        function,
+        dim=dim,
+        inputs=inputs,
+        outputs=outputs,
+        input_output_mask=input_output_mask,
+        device=device,
+        max_blocks=max_blocks,
+        block_dim=block_dim,
+        max_outputs_per_var=max_outputs_per_var,
+        plot_jacobians=False,
+        metadata=metadata,
+    )
+    jacs_fd = jacobian_fd(
+        function,
+        dim=dim,
+        inputs=inputs,
+        outputs=outputs,
+        input_output_mask=input_output_mask,
+        device=device,
+        max_blocks=max_blocks,
+        block_dim=block_dim,
+        max_inputs_per_var=max_inputs_per_var,
+        eps=eps,
+        plot_jacobians=False,
+        metadata=metadata,
+    )
+
+    relative_error_jacs = {}
+    absolute_error_jacs = {}
+
+    if show_summary:
+        summary = []
+        summary_header = ["Input", "Output", "Max Abs Error", "AD at MAE", "FD at MAE", "Max Rel Error", "Pass"]
+
+        class FontColors:
+            OKGREEN = "\033[92m"
+            WARNING = "\033[93m"
+            FAIL = "\033[91m"
+            ENDC = "\033[0m"
+
+    success = True
+    any_grad_mismatch = False
+    any_grad_nan = False
+    for (input_i, output_i), jac_fd in jacs_fd.items():
+        jac_ad = jacs_ad[input_i, output_i]
+        if plot_relative_error or plot_absolute_error:
+            jac_rel_error = wp.empty_like(jac_fd)
+            jac_abs_error = wp.empty_like(jac_fd)
+            flat_jac_fd = scalarize_array_1d(jac_fd)
+            flat_jac_ad = scalarize_array_1d(jac_ad)
+            flat_jac_rel_error = scalarize_array_1d(jac_rel_error)
+            flat_jac_abs_error = scalarize_array_1d(jac_abs_error)
+            wp.launch(
+                compute_error_kernel,
+                dim=len(flat_jac_fd),
+                inputs=[flat_jac_ad, flat_jac_fd, flat_jac_rel_error, flat_jac_abs_error],
+                device=jac_fd.device,
+            )
+            relative_error_jacs[(input_i, output_i)] = jac_rel_error
+            absolute_error_jacs[(input_i, output_i)] = jac_abs_error
+        cut_jac_fd = jac_fd.numpy()
+        cut_jac_ad = jac_ad.numpy()
+        if max_outputs_per_var > 0:
+            cut_jac_fd = cut_jac_fd[:max_outputs_per_var]
+            cut_jac_ad = cut_jac_ad[:max_outputs_per_var]
+        if max_inputs_per_var > 0:
+            cut_jac_fd = cut_jac_fd[:, :max_inputs_per_var]
+            cut_jac_ad = cut_jac_ad[:, :max_inputs_per_var]
+        grad_matches = np.allclose(cut_jac_ad, cut_jac_fd, atol=atol, rtol=rtol)
+        any_grad_mismatch = any_grad_mismatch or not grad_matches
+        success = success and grad_matches
+        isnan = np.any(np.isnan(cut_jac_ad))
+        any_grad_nan = any_grad_nan or isnan
+        success = success and not isnan
+
+        if show_summary:
+            max_abs_error = np.abs(cut_jac_ad - cut_jac_fd).max()
+            arg_max_abs_error = np.unravel_index(np.argmax(np.abs(cut_jac_ad - cut_jac_fd)), cut_jac_ad.shape)
+            max_rel_error = np.abs((cut_jac_ad - cut_jac_fd) / (cut_jac_fd + 1e-8)).max()
+            if isnan:
+                pass_str = FontColors.FAIL + "NaN" + FontColors.ENDC
+            elif grad_matches:
+                pass_str = FontColors.OKGREEN + "PASS" + FontColors.ENDC
+            else:
+                pass_str = FontColors.FAIL + "FAIL" + FontColors.ENDC
+            input_name = metadata.input_labels[input_i]
+            output_name = metadata.output_labels[output_i]
+            summary.append(
+                [
+                    input_name,
+                    output_name,
+                    f"{max_abs_error:.3e} at {tuple(int(i) for i in arg_max_abs_error)}",
+                    f"{cut_jac_ad[arg_max_abs_error]:.3e}",
+                    f"{cut_jac_fd[arg_max_abs_error]:.3e}",
+                    f"{max_rel_error:.3e}",
+                    pass_str,
+                ]
+            )
+
+    if show_summary:
+        print_table(summary_header, summary)
+        if not success:
+            print(FontColors.FAIL + f"Gradient check for kernel {metadata.key} failed" + FontColors.ENDC)
+        else:
+            print(FontColors.OKGREEN + f"Gradient check for kernel {metadata.key} passed" + FontColors.ENDC)
+    if plot_relative_error:
+        jacobian_plot(
+            relative_error_jacs,
+            metadata,
+            inputs,
+            outputs,
+            title=f"{metadata.key} kernel Jacobian relative error",
+        )
+    if plot_absolute_error:
+        jacobian_plot(
+            absolute_error_jacs,
+            metadata,
+            inputs,
+            outputs,
+            title=f"{metadata.key} kernel Jacobian absolute error",
+        )
+
+    if raise_exception:
+        if any_grad_mismatch:
+            raise ValueError(
+                f"Gradient check failed for kernel {metadata.key}, input {input_i}, output {output_i}: "
+                f"finite difference and autodiff gradients do not match"
+            )
+        if any_grad_nan:
+            raise ValueError(
+                f"Gradient check failed for kernel {metadata.key}, input {input_i}, output {output_i}: "
+                f"gradient contains NaN values"
+            )
+
+    return success
+
+
+def gradcheck_tape(
+    tape: wp.Tape,
+    *,
+    eps=1e-4,
+    atol=1e-3,
+    rtol=1e-2,
+    raise_exception=True,
+    input_output_masks: Dict[str, List[Tuple[Union[str, int], Union[str, int]]]] = None,
+    blacklist_kernels: List[str] = None,
+    whitelist_kernels: List[str] = None,
+    max_inputs_per_var=-1,
+    max_outputs_per_var=-1,
+    plot_relative_error=False,
+    plot_absolute_error=False,
+    show_summary: bool = True,
+    reverse_launches: bool = False,
+    skip_to_launch_index: int = 0,
+) -> bool:
+    """
+    Checks whether the autodiff gradients for kernels recorded on the Warp tape match finite differences.
+    Fails if the relative or absolute errors between the autodiff and finite difference gradients exceed the specified tolerance, or if the autodiff gradients contain NaN values.
+
+    Note:
+        Only Warp kernels recorded on the tape are checked but not arbitrary functions that have been recorded, e.g. via :meth:`Tape.record_func`.
+
+        Only Warp arrays with ``requires_grad=True`` are considered for the Jacobian computation.
+
+        Structs arguments are not yet supported by this function to compute Jacobians.
+
+    Args:
+        tape: The Warp tape to perform the gradient check on.
+        eps: The finite-difference step size.
+        atol: The absolute tolerance for the gradient check.
+        rtol: The relative tolerance for the gradient check.
+        raise_exception: If True, raises a `ValueError` if the gradient check fails.
+        input_output_masks: Dictionary of input-output masks for each kernel in the tape, mapping from kernel keys to input-output masks. Inputs and outputs can be identified either by their integer indices of where they appear in the kernel input/output arguments, or by the respective argument names as strings. If None, computes the Jacobian for all input-output pairs.
+        blacklist_kernels: List of kernel keys to exclude from the gradient check.
+        whitelist_kernels: List of kernel keys to include in the gradient check. If not empty or None, only kernels in this list are checked.
+        max_inputs_per_var: Maximum number of input dimensions over which to evaluate the Jacobians for the input-output pairs. Evaluates all input dimensions if value <= 0.
+        max_outputs_per_var: Maximum number of output dimensions over which to evaluate the Jacobians for the input-output pairs. Evaluates all output dimensions if value <= 0.
+        plot_relative_error: If True, visualizes the relative error of the Jacobians in a plot (requires ``matplotlib``).
+        plot_absolute_error: If True, visualizes the absolute error of the Jacobians in a plot (requires ``matplotlib``).
+        show_summary: If True, prints a summary table of the gradient check results.
+        reverse_launches: If True, reverses the order of the kernel launches on the tape to check.
+
+    Returns:
+        True if the gradient check passes for all kernels on the tape, False otherwise.
+    """
+    if input_output_masks is None:
+        input_output_masks = {}
+    if blacklist_kernels is None:
+        blacklist_kernels = []
+    else:
+        blacklist_kernels = set(blacklist_kernels)
+    if whitelist_kernels is None:
+        whitelist_kernels = []
+    else:
+        whitelist_kernels = set(whitelist_kernels)
+
+    overall_success = True
+    launches = reversed(tape.launches) if reverse_launches else tape.launches
+    for i, launch in enumerate(launches):
+        if i < skip_to_launch_index:
+            continue
+        if not isinstance(launch, tuple) and not isinstance(launch, list):
+            continue
+        if not isinstance(launch[0], wp.Kernel):
+            continue
+        kernel, dim, max_blocks, inputs, outputs, device, block_dim = launch[:7]
+        if len(whitelist_kernels) > 0 and kernel.key not in whitelist_kernels:
+            continue
+        if kernel.key in blacklist_kernels:
+            continue
+        if not kernel.options.get("enable_backward", True):
+            continue
+
+        input_output_mask = input_output_masks.get(kernel.key)
+        success = gradcheck(
+            kernel,
+            dim,
+            inputs,
+            outputs,
+            eps=eps,
+            atol=atol,
+            rtol=rtol,
+            raise_exception=raise_exception,
+            input_output_mask=input_output_mask,
+            device=device,
+            max_blocks=max_blocks,
+            block_dim=block_dim,
+            max_inputs_per_var=max_inputs_per_var,
+            max_outputs_per_var=max_outputs_per_var,
+            plot_relative_error=plot_relative_error,
+            plot_absolute_error=plot_absolute_error,
+            show_summary=show_summary,
+        )
+        overall_success = overall_success and success
+
+    return overall_success
+
+
+def get_struct_vars(x: wp.codegen.StructInstance):
+    return {varname: getattr(x, varname) for varname, _ in x._cls.ctype._fields_}
+
+
+def infer_device(xs: list):
+    # retrieve best matching Warp device for a list of variables
+    for x in xs:
+        if isinstance(x, wp.array):
+            return x.device
+        elif isinstance(x, wp.codegen.StructInstance):
+            for var in get_struct_vars(x).values():
+                if isinstance(var, wp.array):
+                    return var.device
+    return wp.get_preferred_device()
+
+
+class FunctionMetadata:
+    """
+    Metadata holder for kernel functions or functions with Warp arrays as inputs/outputs.
+    """
+
+    def __init__(
+        self,
+        key: str = None,
+        input_labels: List[str] = None,
+        output_labels: List[str] = None,
+        input_strides: List[tuple] = None,
+        output_strides: List[tuple] = None,
+        input_dtypes: list = None,
+        output_dtypes: list = None,
+    ):
+        self.key = key
+        self.input_labels = input_labels
+        self.output_labels = output_labels
+        self.input_strides = input_strides
+        self.output_strides = output_strides
+        self.input_dtypes = input_dtypes
+        self.output_dtypes = output_dtypes
+
+    @property
+    def is_empty(self):
+        return self.key is None
+
+    def input_is_array(self, i: int):
+        return self.input_strides[i] is not None
+
+    def output_is_array(self, i: int):
+        return self.output_strides[i] is not None
+
+    def update_from_kernel(self, kernel: wp.Kernel, inputs: Sequence):
+        self.key = kernel.key
+        self.input_labels = [arg.label for arg in kernel.adj.args[: len(inputs)]]
+        self.output_labels = [arg.label for arg in kernel.adj.args[len(inputs) :]]
+        self.input_strides = []
+        self.output_strides = []
+        self.input_dtypes = []
+        self.output_dtypes = []
+        for arg in kernel.adj.args[: len(inputs)]:
+            if arg.type is wp.array:
+                self.input_strides.append(arg.type.strides)
+                self.input_dtypes.append(arg.type.dtype)
+            else:
+                self.input_strides.append(None)
+                self.input_dtypes.append(None)
+        for arg in kernel.adj.args[len(inputs) :]:
+            if arg.type is wp.array:
+                self.output_strides.append(arg.type.strides)
+                self.output_dtypes.append(arg.type.dtype)
+            else:
+                self.output_strides.append(None)
+                self.output_dtypes.append(None)
+
+    def update_from_function(self, function: Callable, inputs: Sequence, outputs: Sequence = None):
+        self.key = function.__name__
+        self.input_labels = list(inspect.signature(function).parameters.keys())
+        if outputs is None:
+            outputs = function(*inputs)
+        if isinstance(outputs, wp.array):
+            outputs = [outputs]
+        self.output_labels = [f"output_{i}" for i in range(len(outputs))]
+        self.input_strides = []
+        self.output_strides = []
+        self.input_dtypes = []
+        self.output_dtypes = []
+        for input in inputs:
+            if isinstance(input, wp.array):
+                self.input_strides.append(input.strides)
+                self.input_dtypes.append(input.dtype)
+            else:
+                self.input_strides.append(None)
+                self.input_dtypes.append(None)
+        for output in outputs:
+            if isinstance(output, wp.array):
+                self.output_strides.append(output.strides)
+                self.output_dtypes.append(output.dtype)
+            else:
+                self.output_strides.append(None)
+                self.output_dtypes.append(None)
+
+
+def jacobian_plot(
+    jacobians: Dict[Tuple[int, int], wp.array],
+    kernel: Union[FunctionMetadata, wp.Kernel],
+    inputs: Sequence = None,
+    outputs: Sequence = None,
+    show_plot=True,
+    show_colorbar=True,
+    scale_colors_per_submatrix=False,
+    title: str = None,
+    colormap: str = "coolwarm",
+    log_scale=False,
+):
+    """
+    Visualizes the Jacobians computed by :func:`jacobian` or :func:`jacobian_fd` in a combined image plot.
+    Requires the ``matplotlib`` package to be installed.
+
+    Args:
+        jacobians: A dictionary of Jacobians, where the keys are tuples of input and output indices, and the values are the Jacobian matrices.
+        kernel: The Warp kernel function, decorated with the ``@wp.kernel`` decorator, or a :class:`FunctionMetadata` instance with the kernel/function attributes.
+        inputs: List of input variables.
+        outputs: List of output variables. Deprecated and will be removed in a future Warp version.
+        show_plot: If True, displays the plot via ``plt.show()``.
+        show_colorbar: If True, displays a colorbar next to the plot (or a colorbar next to every submatrix if ).
+        scale_colors_per_submatrix: If True, considers the minimum and maximum of each Jacobian submatrix separately for color scaling. Otherwise, uses the global minimum and maximum of all Jacobians.
+        title: The title of the plot (optional).
+        colormap: The colormap to use for the plot.
+        log_scale: If True, uses a logarithmic scale for the matrix values shown in the image plot.
+
+    Returns:
+        The created Matplotlib figure.
+    """
+
+    import matplotlib.pyplot as plt
+    from matplotlib.ticker import MaxNLocator
+
+    if isinstance(kernel, wp.Kernel):
+        assert inputs is not None
+        metadata = FunctionMetadata()
+        metadata.update_from_kernel(kernel, inputs)
+    elif isinstance(kernel, FunctionMetadata):
+        metadata = kernel
+    else:
+        raise ValueError("Invalid kernel argument: must be a Warp kernel or a FunctionMetadata object")
+    if outputs is not None:
+        wp.utils.warn(
+            "The `outputs` argument to `jacobian_plot` is no longer needed and will be removed in a future Warp version.",
+            DeprecationWarning,
+            stacklevel=3,
+        )
+
+    jacobians = sorted(jacobians.items(), key=lambda x: (x[0][1], x[0][0]))
+    jacobians = dict(jacobians)
+
+    input_to_ax = {}
+    output_to_ax = {}
+    ax_to_input = {}
+    ax_to_output = {}
+    for i, j in jacobians.keys():
+        if i not in input_to_ax:
+            input_to_ax[i] = len(input_to_ax)
+            ax_to_input[input_to_ax[i]] = i
+        if j not in output_to_ax:
+            output_to_ax[j] = len(output_to_ax)
+            ax_to_output[output_to_ax[j]] = j
+
+    num_rows = len(output_to_ax)
+    num_cols = len(input_to_ax)
+    if num_rows == 0 or num_cols == 0:
+        return
+
+    # determine the width and height ratios for the subplots based on the
+    # dimensions of the Jacobians
+    width_ratios = []
+    height_ratios = []
+    for i in range(len(metadata.input_labels)):
+        if not metadata.input_is_array(i):
+            continue
+        input_stride = metadata.input_strides[i][0]
+        for j in range(len(metadata.output_labels)):
+            if (i, j) not in jacobians:
+                continue
+            jac_wp = jacobians[(i, j)]
+            width_ratios.append(jac_wp.shape[1] * input_stride)
+            break
+
+    for i in range(len(metadata.output_labels)):
+        if not metadata.output_is_array(i):
+            continue
+        for j in range(len(inputs)):
+            if (j, i) not in jacobians:
+                continue
+            jac_wp = jacobians[(j, i)]
+            height_ratios.append(jac_wp.shape[0])
+            break
+
+    fig, axs = plt.subplots(
+        ncols=num_cols,
+        nrows=num_rows,
+        figsize=(7, 7),
+        sharex="col",
+        sharey="row",
+        gridspec_kw={
+            "wspace": 0.1,
+            "hspace": 0.1,
+            "width_ratios": width_ratios,
+            "height_ratios": height_ratios,
+        },
+        subplot_kw={"aspect": 1},
+        squeeze=False,
+    )
+    if title is None:
+        key = kernel.key if isinstance(kernel, wp.Kernel) else kernel.get("key", "unknown")
+        title = f"{key} kernel Jacobian"
+    fig.suptitle(title)
+    fig.canvas.manager.set_window_title(title)
+
+    if not scale_colors_per_submatrix:
+        safe_jacobians = [jac.numpy().flatten() for jac in jacobians.values()]
+        safe_jacobians = [jac[~np.isnan(jac)] for jac in safe_jacobians]
+        safe_jacobians = [jac for jac in safe_jacobians if len(jac) > 0]
+        if len(safe_jacobians) == 0:
+            vmin = 0
+            vmax = 0
+        else:
+            vmin = min([jac.min() for jac in safe_jacobians])
+            vmax = max([jac.max() for jac in safe_jacobians])
+
+    has_plot = np.ones((num_rows, num_cols), dtype=bool)
+    for i in range(num_rows):
+        for j in range(num_cols):
+            if (ax_to_input[j], ax_to_output[i]) not in jacobians:
+                ax = axs[i, j]
+                ax.axis("off")
+                has_plot[i, j] = False
+
+    jac_i = 0
+    for (input_i, output_i), jac_wp in jacobians.items():
+        input_name = metadata.input_labels[input_i]
+        output_name = metadata.output_labels[output_i]
+
+        ax_i, ax_j = output_to_ax[output_i], input_to_ax[input_i]
+        ax = axs[ax_i, ax_j]
+        ax.tick_params(which="major", width=1, length=7)
+        ax.tick_params(which="minor", width=1, length=4, color="gray")
+
+        input_stride = metadata.input_dtypes[input_i]._length_
+        # output_stride = metadata.output_dtypes[output_i]._length_
+
+        jac = jac_wp.numpy()
+        # Jacobian matrix has output stride already multiplied to first dimension
+        jac = jac.reshape(jac_wp.shape[0], jac_wp.shape[1] * input_stride)
+
+        ax.xaxis.set_major_locator(MaxNLocator(integer=True))
+        ax.yaxis.set_major_locator(MaxNLocator(integer=True))
+
+        if scale_colors_per_submatrix:
+            safe_jac = jac[~np.isnan(jac)]
+            vmin = safe_jac.min()
+            vmax = safe_jac.max()
+        img = ax.imshow(
+            np.log10(np.abs(jac) + 1e-8) if log_scale else jac,
+            cmap=colormap,
+            aspect="auto",
+            interpolation="nearest",
+            extent=[0, jac.shape[1], 0, jac.shape[0]],
+            vmin=vmin,
+            vmax=vmax,
+        )
+        if ax_i == num_rows - 1 or not has_plot[ax_i + 1 :, ax_j].any():
+            # last plot of this column
+            ax.set_xlabel(input_name)
+        if ax_j == 0 or not has_plot[ax_i, :ax_j].any():
+            # first plot of this row
+            ax.set_ylabel(output_name)
+        ax.grid(color="gray", which="minor", linestyle="--", linewidth=0.5)
+        ax.grid(color="black", which="major", linewidth=1.0)
+
+        if show_colorbar and scale_colors_per_submatrix:
+            plt.colorbar(img, ax=ax, orientation="vertical", pad=0.02)
+
+        jac_i += 1
+
+    if show_colorbar and not scale_colors_per_submatrix:
+        m = plt.cm.ScalarMappable(cmap=colormap)
+        m.set_array([vmin, vmax])
+        m.set_clim(vmin, vmax)
+        plt.colorbar(m, ax=axs, orientation="vertical", pad=0.02)
+
+    plt.tight_layout()
+    if show_plot:
+        plt.show()
+    return fig
+
+
+def plot_kernel_jacobians(
+    jacobians: Dict[Tuple[int, int], wp.array],
+    kernel: wp.Kernel,
+    inputs: Sequence,
+    outputs: Sequence,
+    show_plot=True,
+    show_colorbar=True,
+    scale_colors_per_submatrix=False,
+    title: str = None,
+    colormap: str = "coolwarm",
+    log_scale=False,
+):
+    """
+    Visualizes the Jacobians computed by :func:`jacobian` or :func:`jacobian_fd` in a combined image plot.
+    Requires the ``matplotlib`` package to be installed.
+
+    Note:
+        This function is deprecated and will be removed in a future Warp version. Please call :func:`jacobian_plot` instead.
+
+    Args:
+        jacobians: A dictionary of Jacobians, where the keys are tuples of input and output indices, and the values are the Jacobian matrices.
+        kernel: The Warp kernel function, decorated with the ``@wp.kernel`` decorator.
+        inputs: List of input variables.
+        outputs: List of output variables.
+        show_plot: If True, displays the plot via ``plt.show()``.
+        show_colorbar: If True, displays a colorbar next to the plot (or a colorbar next to every submatrix if ).
+        scale_colors_per_submatrix: If True, considers the minimum and maximum of each Jacobian submatrix separately for color scaling. Otherwise, uses the global minimum and maximum of all Jacobians.
+        title: The title of the plot (optional).
+        colormap: The colormap to use for the plot.
+        log_scale: If True, uses a logarithmic scale for the matrix values shown in the image plot.
+
+    Returns:
+        The created Matplotlib figure.
+    """
+    wp.utils.warn(
+        "The function `plot_kernel_jacobians` is deprecated and will be removed in a future Warp version. Please call `jacobian_plot` instead.",
+        DeprecationWarning,
+        stacklevel=3,
+    )
+    return jacobian_plot(
+        jacobians,
+        kernel,
+        inputs,
+        outputs,
+        show_plot=show_plot,
+        show_colorbar=show_colorbar,
+        scale_colors_per_submatrix=scale_colors_per_submatrix,
+        title=title,
+        colormap=colormap,
+        log_scale=log_scale,
+    )
+
+
+def scalarize_array_1d(arr):
+    # convert array to 1D array with scalar dtype
+    if arr.dtype in wp.types.scalar_types:
+        return arr.flatten()
+    elif arr.dtype in wp.types.vector_types:
+        return wp.array(
+            ptr=arr.ptr,
+            shape=(arr.size * arr.dtype._length_,),
+            dtype=arr.dtype._wp_scalar_type_,
+            device=arr.device,
+        )
+    else:
+        raise ValueError(
+            f"Unsupported array dtype {arr.dtype}: array to be flattened must be a scalar/vector/matrix array"
+        )
+
+
+def scalarize_array_2d(arr):
+    assert arr.ndim == 2
+    # convert array to 2D array with scalar dtype
+    if arr.dtype in wp.types.scalar_types:
+        return arr
+    elif arr.dtype in wp.types.vector_types:
+        return wp.array(
+            ptr=arr.ptr,
+            shape=(arr.shape[0], arr.shape[1] * arr.dtype._length_),
+            dtype=arr.dtype._wp_scalar_type_,
+            device=arr.device,
+        )
+    else:
+        raise ValueError(
+            f"Unsupported array dtype {arr.dtype}: array to be flattened must be a scalar/vector/matrix array"
+        )
+
+
+def jacobian(
+    function: Union[wp.Kernel, Callable],
+    dim: Tuple[int] = None,
+    inputs: Sequence = None,
+    outputs: Sequence = None,
+    input_output_mask: List[Tuple[Union[str, int], Union[str, int]]] = None,
+    device: wp.context.Devicelike = None,
+    max_blocks=0,
+    block_dim=256,
+    max_outputs_per_var=-1,
+    plot_jacobians=False,
+    metadata: FunctionMetadata = None,
+    kernel: wp.Kernel = None,
+) -> Dict[Tuple[int, int], wp.array]:
+    """
+    Computes the Jacobians of a function or Warp kernel for the provided selection of differentiable inputs to differentiable outputs.
+
+    The input function can be either a Warp kernel (e.g. a function decorated by ``@wp.kernel``) or a regular Python function that accepts arguments (of which some must be Warp arrays) and returns a Warp array or a list of Warp arrays.
+
+    In case ``function`` is a Warp kernel, its adjoint kernel is launched with the given inputs and outputs, as well as the provided ``dim``,
+    ``max_blocks``, and ``block_dim`` arguments (see :func:`warp.launch` for more details).
+
+    Note:
+        If ``function`` is a Warp kernel, the input arguments must precede the output arguments in the kernel code definition.
+
+        Only Warp arrays with ``requires_grad=True`` are considered for the Jacobian computation.
+
+        Function arguments of type :ref:`Struct <structs>` are not yet supported.
+
+    Args:
+        function: The Warp kernel function, or a regular Python function that returns a Warp array or a list of Warp arrays.
+        dim: The number of threads to launch the kernel, can be an integer, or a Tuple of ints. Only required if ``function`` is a Warp kernel.
+        inputs: List of input variables. At least one of the arguments must be a Warp array with ``requires_grad=True``.
+        outputs: List of output variables. Optional if the function is a regular Python function that returns a Warp array or a list of Warp arrays. Only required if ``function`` is a Warp kernel.
+        input_output_mask: List of tuples specifying the input-output pairs to compute the Jacobian for. Inputs and outputs can be identified either by their integer indices of where they appear in the kernel input/output arguments, or by the respective argument names as strings. If None, computes the Jacobian for all input-output pairs.
+        device: The device to launch on (optional). Only used if ``function`` is a Warp kernel.
+        max_blocks: The maximum number of CUDA thread blocks to use. Only used if ``function`` is a Warp kernel.
+        block_dim: The number of threads per block. Only used if ``function`` is a Warp kernel.
+        max_outputs_per_var: Maximum number of output dimensions over which to evaluate the Jacobians for the input-output pairs. Evaluates all output dimensions if value <= 0.
+        plot_jacobians: If True, visualizes the computed Jacobians in a plot (requires ``matplotlib``).
+        metadata: The metadata of the kernel function, containing the input and output labels, strides, and dtypes. If None or empty, the metadata is inferred from the kernel or function.
+        kernel: Deprecated argument. Use the ``function`` argument instead.
+
+    Returns:
+        A dictionary of Jacobians, where the keys are tuples of input and output indices, and the values are the Jacobian matrices.
+    """
+    if input_output_mask is None:
+        input_output_mask = []
+    if kernel is not None:
+        wp.utils.warn(
+            "The argument `kernel` to the function `wp.autograd.jacobian` is deprecated in favor of the `function` argument and will be removed in a future Warp version.",
+            DeprecationWarning,
+            stacklevel=3,
+        )
+        function = kernel
+
+    if metadata is None:
+        metadata = FunctionMetadata()
+
+    if isinstance(function, wp.Kernel):
+        if not function.options.get("enable_backward", True):
+            raise ValueError("Kernel must have backward pass enabled to compute Jacobians")
+        if outputs is None or len(outputs) == 0:
+            raise ValueError("A list of output arguments must be provided to compute kernel Jacobians")
+        if device is None:
+            device = infer_device(inputs + outputs)
+        if metadata.is_empty:
+            metadata.update_from_kernel(function, inputs)
+
+        tape = wp.Tape()
+        tape.record_launch(
+            kernel=function,
+            dim=dim,
+            inputs=inputs,
+            outputs=outputs,
+            device=device,
+            max_blocks=max_blocks,
+            block_dim=block_dim,
+        )
+    else:
+        tape = wp.Tape()
+        with tape:
+            outputs = function(*inputs)
+        if isinstance(outputs, wp.array):
+            outputs = [outputs]
+        if metadata.is_empty:
+            metadata.update_from_function(function, inputs, outputs)
+
+    arg_names = metadata.input_labels + metadata.output_labels
+
+    def resolve_arg(name, offset: int = 0):
+        if isinstance(name, int):
+            return name
+        return arg_names.index(name) + offset
+
+    input_output_mask = [
+        (resolve_arg(input_name), resolve_arg(output_name, -len(inputs)))
+        for input_name, output_name in input_output_mask
+    ]
+    input_output_mask = set(input_output_mask)
+
+    zero_grads(inputs)
+    zero_grads(outputs)
+
+    jacobians = {}
+
+    for input_i, output_i in itertools.product(range(len(inputs)), range(len(outputs))):
+        if len(input_output_mask) > 0 and (input_i, output_i) not in input_output_mask:
+            continue
+        input = inputs[input_i]
+        output = outputs[output_i]
+        if not isinstance(input, wp.array) or not input.requires_grad:
+            continue
+        if not isinstance(output, wp.array) or not output.requires_grad:
+            continue
+        out_grad = scalarize_array_1d(output.grad)
+        output_num = out_grad.shape[0]
+        jacobian = wp.empty((output_num, input.size), dtype=input.dtype, device=input.device)
+        jacobian.fill_(wp.nan)
+        if max_outputs_per_var > 0:
+            output_num = min(output_num, max_outputs_per_var)
+        for i in range(output_num):
+            output.grad.zero_()
+            if i > 0:
+                set_element(out_grad, i - 1, 0.0)
+            set_element(out_grad, i, 1.0)
+            tape.backward()
+            jacobian[i].assign(input.grad)
+
+            zero_grads(inputs)
+            zero_grads(outputs)
+        jacobians[input_i, output_i] = jacobian
+
+    if plot_jacobians:
+        jacobian_plot(
+            jacobians,
+            metadata,
+            inputs,
+            outputs,
+        )
+
+    return jacobians
+
+
+def jacobian_fd(
+    function: Union[wp.Kernel, Callable],
+    dim: Tuple[int] = None,
+    inputs: Sequence = None,
+    outputs: Sequence = None,
+    input_output_mask: List[Tuple[Union[str, int], Union[str, int]]] = None,
+    device: wp.context.Devicelike = None,
+    max_blocks=0,
+    block_dim=256,
+    max_inputs_per_var=-1,
+    eps: float = 1e-4,
+    plot_jacobians=False,
+    metadata: FunctionMetadata = None,
+    kernel: wp.Kernel = None,
+) -> Dict[Tuple[int, int], wp.array]:
+    """
+    Computes the finite-difference Jacobian of a function or Warp kernel for the provided selection of differentiable inputs to differentiable outputs.
+    The method uses a central difference scheme to approximate the Jacobian.
+
+    The input function can be either a Warp kernel (e.g. a function decorated by ``@wp.kernel``) or a regular Python function that accepts arguments (of which some must be Warp arrays) and returns a Warp array or a list of Warp arrays.
+
+    The function is launched multiple times in forward-only mode with the given inputs. If ``function`` is a Warp kernel, the provided inputs and outputs,
+    as well as the other parameters ``dim``, ``max_blocks``, and ``block_dim`` are provided to the kernel launch (see :func:`warp.launch`).
+
+    Note:
+        If ``function`` is a Warp kernel, the input arguments must precede the output arguments in the kernel code definition.
+
+        Only Warp arrays with ``requires_grad=True`` are considered for the Jacobian computation.
+
+        Function arguments of type :ref:`Struct <structs>` are not yet supported.
+
+    Args:
+        function: The Warp kernel function, or a regular Python function that returns a Warp array or a list of Warp arrays.
+        dim: The number of threads to launch the kernel, can be an integer, or a Tuple of ints. Only required if ``function`` is a Warp kernel.
+        inputs: List of input variables. At least one of the arguments must be a Warp array with ``requires_grad=True``.
+        outputs: List of output variables. Optional if the function is a regular Python function that returns a Warp array or a list of Warp arrays. Only required if ``function`` is a Warp kernel.
+        input_output_mask: List of tuples specifying the input-output pairs to compute the Jacobian for. Inputs and outputs can be identified either by their integer indices of where they appear in the kernel input/output arguments, or by the respective argument names as strings. If None, computes the Jacobian for all input-output pairs.
+        device: The device to launch on (optional). Only used if ``function`` is a Warp kernel.
+        max_blocks: The maximum number of CUDA thread blocks to use. Only used if ``function`` is a Warp kernel.
+        block_dim: The number of threads per block. Only used if ``function`` is a Warp kernel.
+        max_inputs_per_var: Maximum number of input dimensions over which to evaluate the Jacobians for the input-output pairs. Evaluates all input dimensions if value <= 0.
+        eps: The finite-difference step size.
+        plot_jacobians: If True, visualizes the computed Jacobians in a plot (requires ``matplotlib``).
+        metadata: The metadata of the kernel function, containing the input and output labels, strides, and dtypes. If None or empty, the metadata is inferred from the kernel or function.
+        kernel: Deprecated argument. Use the ``function`` argument instead.
+
+    Returns:
+        A dictionary of Jacobians, where the keys are tuples of input and output indices, and the values are the Jacobian matrices.
+    """
+    if input_output_mask is None:
+        input_output_mask = []
+    if kernel is not None:
+        wp.utils.warn(
+            "The argument `kernel` to the function `wp.autograd.jacobian` is deprecated in favor of the `function` argument and will be removed in a future Warp version.",
+            DeprecationWarning,
+            stacklevel=3,
+        )
+        function = kernel
+
+    if metadata is None:
+        metadata = FunctionMetadata()
+
+    if isinstance(function, wp.Kernel):
+        if not function.options.get("enable_backward", True):
+            raise ValueError("Kernel must have backward pass enabled to compute Jacobians")
+        if outputs is None or len(outputs) == 0:
+            raise ValueError("A list of output arguments must be provided to compute kernel Jacobians")
+        if device is None:
+            device = infer_device(inputs + outputs)
+        if metadata.is_empty:
+            metadata.update_from_kernel(function, inputs)
+
+        tape = wp.Tape()
+        tape.record_launch(
+            kernel=function,
+            dim=dim,
+            inputs=inputs,
+            outputs=outputs,
+            device=device,
+            max_blocks=max_blocks,
+            block_dim=block_dim,
+        )
+    else:
+        tape = wp.Tape()
+        with tape:
+            outputs = function(*inputs)
+        if isinstance(outputs, wp.array):
+            outputs = [outputs]
+        if metadata.is_empty:
+            metadata.update_from_function(function, inputs, outputs)
+
+    arg_names = metadata.input_labels + metadata.output_labels
+
+    def resolve_arg(name, offset: int = 0):
+        if isinstance(name, int):
+            return name
+        return arg_names.index(name) + offset
+
+    input_output_mask = [
+        (resolve_arg(input_name), resolve_arg(output_name, -len(inputs)))
+        for input_name, output_name in input_output_mask
+    ]
+    input_output_mask = set(input_output_mask)
+
+    jacobians = {}
+
+    def conditional_clone(obj):
+        if isinstance(obj, wp.array):
+            return wp.clone(obj)
+        return obj
+
+    outputs_copy = [conditional_clone(output) for output in outputs]
+
+    for input_i, output_i in itertools.product(range(len(inputs)), range(len(outputs))):
+        if len(input_output_mask) > 0 and (input_i, output_i) not in input_output_mask:
+            continue
+        input = inputs[input_i]
+        output = outputs[output_i]
+        if not isinstance(input, wp.array) or not input.requires_grad:
+            continue
+        if not isinstance(output, wp.array) or not output.requires_grad:
+            continue
+
+        flat_input = scalarize_array_1d(input)
+
+        left = wp.clone(output)
+        right = wp.clone(output)
+        left_copy = wp.clone(output)
+        right_copy = wp.clone(output)
+        flat_left = scalarize_array_1d(left)
+        flat_right = scalarize_array_1d(right)
+
+        outputs_until_left = [conditional_clone(output) for output in outputs_copy[:output_i]]
+        outputs_until_right = [conditional_clone(output) for output in outputs_copy[:output_i]]
+        outputs_after_left = [conditional_clone(output) for output in outputs_copy[output_i + 1 :]]
+        outputs_after_right = [conditional_clone(output) for output in outputs_copy[output_i + 1 :]]
+        left_outputs = outputs_until_left + [left] + outputs_after_left
+        right_outputs = outputs_until_right + [right] + outputs_after_right
+
+        input_num = flat_input.shape[0]
+        flat_input_copy = wp.clone(flat_input)
+        jacobian = wp.empty((flat_left.size, input.size), dtype=input.dtype, device=input.device)
+        jacobian.fill_(wp.nan)
+
+        jacobian_scalar = scalarize_array_2d(jacobian)
+        jacobian_t = jacobian_scalar.transpose()
+        if max_inputs_per_var > 0:
+            input_num = min(input_num, max_inputs_per_var)
+        for i in range(input_num):
+            set_element(flat_input, i, -eps, relative=True)
+            if isinstance(function, wp.Kernel):
+                wp.launch(
+                    function,
+                    dim=dim,
+                    max_blocks=max_blocks,
+                    block_dim=block_dim,
+                    inputs=inputs,
+                    outputs=left_outputs,
+                    device=device,
+                )
+            else:
+                outputs = function(*inputs)
+                if isinstance(outputs, wp.array):
+                    outputs = [outputs]
+                left.assign(outputs[output_i])
+
+            set_element(flat_input, i, 2 * eps, relative=True)
+            if isinstance(function, wp.Kernel):
+                wp.launch(
+                    function,
+                    dim=dim,
+                    max_blocks=max_blocks,
+                    block_dim=block_dim,
+                    inputs=inputs,
+                    outputs=right_outputs,
+                    device=device,
+                )
+            else:
+                outputs = function(*inputs)
+                if isinstance(outputs, wp.array):
+                    outputs = [outputs]
+                right.assign(outputs[output_i])
+
+            # restore input
+            flat_input.assign(flat_input_copy)
+
+            compute_fd(
+                flat_left,
+                flat_right,
+                eps,
+                jacobian_t[i],
+            )
+
+            if i < input_num - 1:
+                # reset output buffers
+                left.assign(left_copy)
+                right.assign(right_copy)
+                flat_left = scalarize_array_1d(left)
+                flat_right = scalarize_array_1d(right)
+
+        jacobians[input_i, output_i] = jacobian
+
+    if plot_jacobians:
+        jacobian_plot(
+            jacobians,
+            metadata,
+            inputs,
+            outputs,
+        )
+
+    return jacobians
+
+
+@wp.kernel(enable_backward=False)
+def set_element_kernel(a: wp.array(dtype=Any), i: int, val: Any, relative: bool):
+    if relative:
+        a[i] += val
+    else:
+        a[i] = val
+
+
+def set_element(a: wp.array(dtype=Any), i: int, val: Any, relative: bool = False):
+    wp.launch(set_element_kernel, dim=1, inputs=[a, i, a.dtype(val), relative], device=a.device)
+
+
+@wp.kernel(enable_backward=False)
+def compute_fd_kernel(left: wp.array(dtype=float), right: wp.array(dtype=float), eps: float, fd: wp.array(dtype=float)):
+    tid = wp.tid()
+    fd[tid] = (right[tid] - left[tid]) / (2.0 * eps)
+
+
+def compute_fd(left: wp.array(dtype=Any), right: wp.array(dtype=Any), eps: float, fd: wp.array(dtype=Any)):
+    wp.launch(compute_fd_kernel, dim=len(left), inputs=[left, right, eps], outputs=[fd], device=left.device)
+
+
+@wp.kernel(enable_backward=False)
+def compute_error_kernel(
+    jacobian_ad: wp.array(dtype=Any),
+    jacobian_fd: wp.array(dtype=Any),
+    relative_error: wp.array(dtype=Any),
+    absolute_error: wp.array(dtype=Any),
+):
+    tid = wp.tid()
+    ad = jacobian_ad[tid]
+    fd = jacobian_fd[tid]
+    denom = ad
+    if abs(ad) < 1e-8:
+        denom = (type(ad))(1e-8)
+    relative_error[tid] = (ad - fd) / denom
+    absolute_error[tid] = wp.abs(ad - fd)
+
+
+def print_table(headers, cells):
+    """
+    Prints a table with the given headers and cells.
+
+    Args:
+        headers: List of header strings.
+        cells: List of lists of cell strings.
+    """
+    import re
+
+    def sanitized_len(s):
+        return len(re.sub(r"\033\[\d+m", "", str(s)))
+
+    col_widths = [max(sanitized_len(cell) for cell in col) for col in zip(headers, *cells)]
+    for header, col_width in zip(headers, col_widths):
+        print(f"{header:{col_width}}", end=" | ")
+    print()
+    print("-" * (sum(col_widths) + 3 * len(col_widths) - 1))
+    for cell_row in cells:
+        for cell, col_width in zip(cell_row, col_widths):
+            print(f"{cell:{col_width}}", end=" | ")
+        print()
+
+
+def zero_grads(arrays: list):
+    """
+    Zeros the gradients of all Warp arrays in the given list.
+    """
+    for array in arrays:
+        if isinstance(array, wp.array) and array.requires_grad:
+            array.grad.zero_()