warp-lang 1.7.2__py3-none-manylinux_2_34_aarch64.whl → 1.8.0__py3-none-manylinux_2_34_aarch64.whl

warp/builtins.py

@@ -13,13 +13,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 import builtins
 import functools
 from typing import Any, Callable, Mapping, Sequence
 
 import warp.build
 import warp.context
-from warp.codegen import Reference, Var, strip_reference
+from warp.codegen import Reference, Var, get_arg_value, strip_reference
 from warp.types import *
 
 from .context import add_builtin
@@ -55,6 +57,33 @@ def sametypes_create_value_func(default: TypeVar):
     return fn
 
 
+def extract_tuple(arg, as_constant=False):
+    if isinstance(arg, Var):
+        if isinstance(arg.type, warp.types.tuple_t):
+            out = arg.type.values
+        else:
+            out = (arg,)
+    elif isinstance(arg, warp.types.tuple_t):
+        out = arg.values
+    elif not isinstance(arg, Sequence):
+        out = (arg,)
+    else:
+        out = arg
+
+    if as_constant:
+        return tuple(x.constant if isinstance(x, Var) else x for x in out)
+
+    return out
+
+
+def static_len_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    if arg_types is None:
+        return int
+
+    length = warp.types.type_length(arg_types["a"])
+    return Var(None, type=int, constant=length)
+
+
 # ---------------------------------
 # Scalar Math
 
@@ -399,7 +428,7 @@ add_builtin(
 )
 
 
-def scalar_infer_type(arg_types: Union[Mapping[str, type], Tuple[type, ...], None]):
+def scalar_infer_type(arg_types: Mapping[str, type] | tuple[type, ...] | None):
     if arg_types is None:
         return Scalar
 
@@ -1155,6 +1184,11 @@ add_builtin(
 
 
 def matrix_transform_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    warp.utils.warn(
+        "the built-in `wp.matrix()` function to construct a 4x4 matrix from a 3D position, quaternion, "
+        "and 3D scale vector will be deprecated in favor of `wp.transform_compose()`.",
+        DeprecationWarning,
+    )
     if arg_types is None:
         return matrix(shape=(4, 4), dtype=Float)
 
@@ -1204,21 +1238,47 @@ add_builtin(
     dispatch_func=matrix_transform_dispatch_func,
     native_func="mat_t",
     doc="""Construct a 4x4 transformation matrix that applies the transformations as
-    Translation(pos)*Rotation(rot)*Scaling(scale) when applied to column vectors, i.e.: y = (TRS)*x""",
+    Translation(pos)*Rotation(rot)*Scaling(scale) when applied to column vectors, i.e.: y = (TRS)*x
+
+    .. warning::
+       This function has been deprecated in favor of :func:`warp.math.transform_compose()`.""",
     group="Vector Math",
     export=False,
 )
 
 
-# not making these functions available outside kernels (export=False) as they
-# return data via references, which we don't currently support:
+def svd3_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    if arg_types is None:
+        return (
+            matrix(shape=(3, 3), dtype=Float),
+            vector(length=3, dtype=Float),
+            matrix(shape=(3, 3), dtype=Float),
+        )
+
+    dtype = arg_types["A"]._wp_scalar_type_
+    return (
+        matrix(shape=(3, 3), dtype=dtype),
+        vector(length=3, dtype=dtype),
+        matrix(shape=(3, 3), dtype=dtype),
+    )
+
+
+add_builtin(
+    "svd3",
+    input_types={"A": matrix(shape=(3, 3), dtype=Float)},
+    value_func=svd3_value_func,
+    group="Vector Math",
+    doc="""Compute the SVD of a 3x3 matrix ``A``. The singular values are returned in ``sigma``,
+    while the left and right basis vectors are returned in ``U`` and ``V``.""",
+)
+
 add_builtin(
     "svd3",
     input_types={
         "A": matrix(shape=(3, 3), dtype=Float),
         "U": matrix(shape=(3, 3), dtype=Float),
         "sigma": vector(length=3, dtype=Float),
-        "V": matrix(shape=(3, 3), dtype=Scalar),
+        "V": matrix(shape=(3, 3), dtype=Float),
     },
     value_type=None,
     group="Vector Math",
@@ -1227,13 +1287,39 @@ add_builtin(
     while the left and right basis vectors are returned in ``U`` and ``V``.""",
 )
 
+
+def svd2_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    if arg_types is None:
+        return (
+            matrix(shape=(2, 2), dtype=Float),
+            vector(length=2, dtype=Float),
+            matrix(shape=(2, 2), dtype=Float),
+        )
+
+    dtype = arg_types["A"]._wp_scalar_type_
+    return (
+        matrix(shape=(2, 2), dtype=dtype),
+        vector(length=2, dtype=dtype),
+        matrix(shape=(2, 2), dtype=dtype),
+    )
+
+
+add_builtin(
+    "svd2",
+    input_types={"A": matrix(shape=(2, 2), dtype=Float)},
+    value_func=svd2_value_func,
+    group="Vector Math",
+    doc="""Compute the SVD of a 2x2 matrix ``A``. The singular values are returned in ``sigma``,
+    while the left and right basis vectors are returned in ``U`` and ``V``.""",
+)
+
 add_builtin(
     "svd2",
     input_types={
         "A": matrix(shape=(2, 2), dtype=Float),
         "U": matrix(shape=(2, 2), dtype=Float),
         "sigma": vector(length=2, dtype=Float),
-        "V": matrix(shape=(2, 2), dtype=Scalar),
+        "V": matrix(shape=(2, 2), dtype=Float),
     },
     value_type=None,
     group="Vector Math",
@@ -1242,6 +1328,30 @@ add_builtin(
     while the left and right basis vectors are returned in ``U`` and ``V``.""",
 )
 
+
+def qr3_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    if arg_types is None:
+        return (
+            matrix(shape=(3, 3), dtype=Float),
+            matrix(shape=(3, 3), dtype=Float),
+        )
+
+    dtype = arg_types["A"]._wp_scalar_type_
+    return (
+        matrix(shape=(3, 3), dtype=dtype),
+        matrix(shape=(3, 3), dtype=dtype),
+    )
+
+
+add_builtin(
+    "qr3",
+    input_types={"A": matrix(shape=(3, 3), dtype=Float)},
+    value_func=qr3_value_func,
+    group="Vector Math",
+    doc="""Compute the QR decomposition of a 3x3 matrix ``A``. The orthogonal matrix is returned in ``Q``,
+    while the upper triangular matrix is returned in ``R``.""",
+)
+
 add_builtin(
     "qr3",
     input_types={
@@ -1256,6 +1366,27 @@ add_builtin(
     while the upper triangular matrix is returned in ``R``.""",
 )
 
+
+def eig3_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    if arg_types is None:
+        return (matrix(shape=(3, 3), dtype=Float), vector(length=3, dtype=Float))
+
+    dtype = arg_types["A"]._wp_scalar_type_
+    return (
+        matrix(shape=(3, 3), dtype=dtype),
+        vector(length=3, dtype=dtype),
+    )
+
+
+add_builtin(
+    "eig3",
+    input_types={"A": matrix(shape=(3, 3), dtype=Float)},
+    value_func=eig3_value_func,
+    group="Vector Math",
+    doc="""Compute the eigendecomposition of a 3x3 matrix ``A``. The eigenvectors are returned as the columns of ``Q``,
+    while the corresponding eigenvalues are returned in ``d``.""",
+)
+
 add_builtin(
     "eig3",
     input_types={
@@ -1422,13 +1553,34 @@ add_builtin(
     group="Quaternion Math",
     doc="Construct a quaternion representing a rotation of angle radians around the given axis.",
 )
+
+
+def quat_to_axis_angle_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    if arg_types is None:
+        return (vector(length=3, dtype=Float), Float)
+
+    dtype = arg_types["quat"]._wp_scalar_type_
+    return (vector(length=3, dtype=dtype), dtype)
+
+
+add_builtin(
+    "quat_to_axis_angle",
+    input_types={"quat": quaternion(dtype=Float)},
+    value_func=quat_to_axis_angle_value_func,
+    group="Quaternion Math",
+    doc="Extract the rotation axis and angle radians a quaternion represents.",
+)
+
 add_builtin(
     "quat_to_axis_angle",
     input_types={"quat": quaternion(dtype=Float), "axis": vector(length=3, dtype=Float), "angle": Float},
     value_type=None,
     group="Quaternion Math",
     doc="Extract the rotation axis and angle radians a quaternion represents.",
+    export=False,
 )
+
+
 add_builtin(
     "quat_from_matrix",
     input_types={"mat": matrix(shape=(3, 3), dtype=Float)},
@@ -1506,6 +1658,48 @@ def transformation_value_func(arg_types: Mapping[str, type], arg_values: Mapping
     if arg_types is None:
         return transformation(dtype=Float)
 
+    dtype = arg_values.get("dtype", None)
+
+    variadic_arg_types = arg_types.get("args", ())
+    variadic_arg_count = len(variadic_arg_types)
+    if variadic_arg_count == 0:
+        # Zero-initialization, e.g.: `wp.transform()`, `wp.transformation(dtype=wp.float16)`.
+        if dtype is None:
+            dtype = float32
+    elif variadic_arg_count == 1:
+        # Initialization by filling a value, e.g.: `wp.transform(123)`,
+        # `wp.transformation(123)`.
+        value_type = strip_reference(variadic_arg_types[0])
+        if dtype is None:
+            dtype = value_type
+        elif not warp.types.scalars_equal(value_type, dtype):
+            raise RuntimeError(
+                f"the value used to fill this transform is expected to be of the type `{dtype.__name__}`"
+            )
+    elif variadic_arg_count == 7:
+        # Initializing by value, e.g.: `wp.transform(1, 2, 3, 4, 5, 6, 7)`.
+        try:
+            value_type = scalar_infer_type(variadic_arg_types)
+        except RuntimeError:
+            raise RuntimeError("all values given when constructing a transform must have the same type") from None
+
+        if dtype is None:
+            dtype = value_type
+        elif not warp.types.scalars_equal(value_type, dtype):
+            raise RuntimeError(
+                f"all values used to initialize this transform are expected to be of the type `{dtype.__name__}`"
+            )
+
+    if dtype is None:
+        raise RuntimeError("could not infer the `dtype` argument when calling the `wp.transform()` function")
+
+    return transformation(dtype=dtype)
+
+
+def transformation_pq_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    if arg_types is None:
+        return transformation(dtype=Float)
+
     try:
         value_type = float_infer_type(arg_types)
     except RuntimeError:
@@ -1540,20 +1734,35 @@ def transformation_dispatch_func(input_types: Mapping[str, type], return_type: A
 
 add_builtin(
     "transformation",
-    input_types={"pos": vector(length=3, dtype=Float), "rot": quaternion(dtype=Float), "dtype": Float},
+    input_types={"p": vector(length=3, dtype=Float), "q": quaternion(dtype=Float), "dtype": Float},
     defaults={"dtype": None},
-    value_func=transformation_value_func,
+    value_func=transformation_pq_value_func,
     export_func=lambda input_types: {k: v for k, v in input_types.items() if k != "dtype"},
     dispatch_func=transformation_dispatch_func,
     native_func="transform_t",
     group="Transformations",
-    doc="Construct a rigid-body transformation with translation part ``pos`` and rotation ``rot``.",
+    doc="Construct a rigid-body transformation with translation part ``p`` and rotation ``q``.",
+    export=False,
+)
+
+
+add_builtin(
+    "transformation",
+    input_types={"*args": Float, "dtype": Float},
+    defaults={"dtype": None},
+    variadic=True,
+    initializer_list_func=lambda arg_types, arg_values: len(arg_types.get("args", ())) > 1,
+    value_func=transformation_value_func,
+    export_func=lambda input_types: {k: v for k, v in input_types.items() if k not in ("dtype")},
+    dispatch_func=transformation_dispatch_func,
+    native_func="transform_t",
+    doc="Construct a spatial transform vector of given dtype.",
+    group="Spatial Math",
     export=False,
 )
 
 
 def transform_identity_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
-    # if arg_types is None then we are in 'export' mode
     if arg_types is None:
         # return transformation(dtype=Float)
         return transformf
@@ -1600,6 +1809,40 @@ add_builtin(
     group="Transformations",
     doc="Return the rotational part of a transform ``xform``.",
 )
+add_builtin(
+    "transform_set_translation",
+    input_types={"xform": transformation(dtype=Float), "p": vector(length=3, dtype=Float)},
+    value_type=None,
+    group="Transformations",
+    doc="Set the translational part of a transform ``xform``.",
+)
+add_builtin(
+    "transform_set_rotation",
+    input_types={"xform": transformation(dtype=Float), "q": quaternion(dtype=Float)},
+    value_type=None,
+    group="Transformations",
+    doc="Set the rotational part of a transform ``xform``.",
+)
+# performs a copy internally if wp.config.enable_vector_component_overwrites is True
+add_builtin(
+    "transform_set_translation_copy",
+    input_types={"xform": transformation(dtype=Float), "p": vector(length=3, dtype=Float)},
+    value_type=transformation(dtype=Float),
+    group="Transformations",
+    doc="Set the translational part of a transform ``xform``.",
+    hidden=True,
+    export=False,
+)
+# performs a copy internally if wp.config.enable_vector_component_overwrites is True
+add_builtin(
+    "transform_set_rotation_copy",
+    input_types={"xform": transformation(dtype=Float), "q": quaternion(dtype=Float)},
+    value_type=transformation(dtype=Float),
+    group="Transformations",
+    doc="Set the rotational part of a transform ``xform``.",
+    hidden=True,
+    export=False,
+)
 add_builtin(
     "transform_multiply",
     input_types={"a": transformation(dtype=Float), "b": transformation(dtype=Float)},
@@ -1831,40 +2074,15 @@ add_builtin(
 # Tile-based primitives
 
 
-def tile_unpack_shape(arg_values):
-    shape = arg_values["shape"]
-
-    if not isinstance(shape, tuple):
-        # promote to tuple
-        shape = (shape,)
-
-    # check that components are constants
-    for d in shape:
-        if d is None:
-            raise ValueError("Tile functions require shape to be a compile time constant.")
-
-    return shape
-
-
-def tile_unpack_offset(arg_values, ndim=0):
-    if "offset" in arg_values:
-        offset = arg_values["offset"]
-    else:
-        offset = (0,) * ndim
-
-    if isinstance(offset, tuple):
-        return offset
-    else:
-        # promote to tuple
-        return (offset,)
-
-
 def tile_zeros_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Any, shape=Tuple[int, ...])
+
+    shape = extract_tuple(arg_values["shape"], as_constant=True)
 
-    shape = tile_unpack_shape(arg_values)
+    if None in shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
 
     if "dtype" not in arg_values:
         raise TypeError("tile_zeros() missing required keyword argument 'dtype'")
@@ -1877,17 +2095,20 @@ def tile_zeros_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str
 
     dtype = arg_values["dtype"]
 
-    return TileZeros(dtype=dtype, shape=shape, storage=arg_values["storage"])
+    return tile(dtype=dtype, shape=shape, storage=arg_values["storage"])
 
 
 def tile_zeros_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
-    shape = tile_unpack_shape(arg_values)
+    shape = extract_tuple(arg_values["shape"], as_constant=True)
+
+    if None in shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
+
     dtype = arg_values["dtype"]
 
     template_args = []
     template_args.append(dtype)
-    for d in shape:
-        template_args.append(d.constant)
+    template_args.extend(shape)
 
     return ([], template_args)
 
@@ -1929,9 +2150,12 @@ add_builtin(
 def tile_ones_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
-    shape = tile_unpack_shape(arg_values)
+    shape = extract_tuple(arg_values["shape"], as_constant=True)
+
+    if None in shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
 
     if "dtype" not in arg_values:
         raise TypeError("tile_ones() missing required keyword argument 'dtype'")
@@ -1944,17 +2168,20 @@ def tile_ones_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str,
 
     dtype = arg_values["dtype"]
 
-    return TileOnes(dtype=dtype, shape=shape, storage=arg_values["storage"])
+    return tile(dtype=dtype, shape=shape, storage=arg_values["storage"])
 
 
 def tile_ones_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
-    shape = tile_unpack_shape(arg_values)
+    shape = extract_tuple(arg_values["shape"], as_constant=True)
+
+    if None in shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
+
     dtype = arg_values["dtype"]
 
     template_args = []
     template_args.append(dtype)
-    for d in shape:
-        template_args.append(d.constant)
+    template_args.extend(shape)
 
     return ([], template_args)
 
@@ -1994,7 +2221,7 @@ add_builtin(
 def tile_arange_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Scalar, shape=Tuple[int])
 
     if "args" not in arg_values:
         raise TypeError("tile_arange() requires at least one positional argument specifying the range")
@@ -2029,7 +2256,8 @@ def tile_arange_value_func(arg_types: Mapping[str, type], arg_values: Mapping[st
     if arg_values["storage"] not in {"shared", "register"}:
         raise ValueError(f"Invalid value for 'storage': {arg_values['storage']!r}. Expected 'shared' or 'register'.")
 
-    return TileRange(dtype=dtype, start=start, stop=stop, step=step, storage=arg_values["storage"])
+    n = int((stop - start) / step)
+    return tile(dtype=dtype, shape=(n,), storage=arg_values["storage"])
 
 
 def tile_arange_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
@@ -2045,13 +2273,13 @@ def tile_arange_dispatch_func(arg_types: Mapping[str, type], return_type: Any, a
     args = arg_values["args"]
 
     if len(args) == 1:
-        start = warp.codegen.Var(label=None, type=return_type.dtype, constant=return_type.start)
+        start = warp.codegen.Var(label=None, type=return_type.dtype, constant=0)
         stop = args[0]
-        step = warp.codegen.Var(label=None, type=return_type.dtype, constant=return_type.step)
+        step = warp.codegen.Var(label=None, type=return_type.dtype, constant=1)
     elif len(args) == 2:
         start = args[0]
         stop = args[1]
-        step = warp.codegen.Var(label=None, type=return_type.dtype, constant=return_type.step)
+        step = warp.codegen.Var(label=None, type=return_type.dtype, constant=1)
     elif len(args) == 3:
         start = args[0]
         stop = args[1]
@@ -2069,7 +2297,7 @@ def tile_arange_dispatch_func(arg_types: Mapping[str, type], return_type: Any, a
 
 add_builtin(
     "tile_arange",
-    input_types={"*args": Scalar, "dtype": Any, "storage": str},
+    input_types={"*args": Scalar, "dtype": Scalar, "storage": str},
     defaults={"dtype": None, "storage": "register"},
     value_func=tile_arange_value_func,
     dispatch_func=tile_arange_dispatch_func,
@@ -2094,12 +2322,19 @@ add_builtin(
 
 def tile_load_tuple_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
     if arg_types is None:
-        return array(dtype=Scalar)
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
     a = arg_types["a"]
 
-    shape = tile_unpack_shape(arg_values)
-    offset = tile_unpack_offset(arg_values, a.ndim)
+    shape = extract_tuple(arg_values["shape"], as_constant=True)
+
+    if None in shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
+
+    if "offset" in arg_values:
+        offset = extract_tuple(arg_values["offset"])
+    else:
+        offset = (0,) * a.ndim
 
     if a.ndim != len(shape):
         raise ValueError(
@@ -2114,16 +2349,23 @@ def tile_load_tuple_value_func(arg_types: Mapping[str, type], arg_values: Mappin
     if arg_values["storage"] not in {"shared", "register"}:
         raise ValueError(f"Invalid value for 'storage': {arg_values['storage']!r}. Expected 'shared' or 'register'.")
 
-    return Tile(dtype=a.dtype, shape=shape, storage=arg_values["storage"])
+    return tile(dtype=a.dtype, shape=shape, storage=arg_values["storage"])
 
 
 def tile_load_tuple_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
     a = args["a"]
-    shape = tile_unpack_shape(args)
-    offset = tile_unpack_offset(args, a.type.ndim)
+    shape = extract_tuple(args["shape"], as_constant=True)
+
+    if None in shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
+
+    if "offset" in args:
+        offset = extract_tuple(args["offset"])
+    else:
+        offset = (0,) * a.type.ndim
 
     func_args = (a, *offset)
-    template_args = (d.constant for d in shape)
+    template_args = shape
 
     return (func_args, template_args)
 
@@ -2170,7 +2412,10 @@ def tile_store_value_func(arg_types, arg_values):
     a = arg_types["a"]
     t = arg_types["t"]
 
-    c = tile_unpack_offset(arg_types, a.ndim)
+    if "offset" in arg_types:
+        c = extract_tuple(arg_values["offset"])
+    else:
+        c = (0,) * a.ndim
 
     if len(c) != a.ndim:
         raise ValueError(
@@ -2196,7 +2441,10 @@ def tile_store_dispatch_func(input_types: Mapping[str, type], return_type: Any,
     a = args["a"]
     t = args["t"]
 
-    offset = tile_unpack_offset(args, a.type.ndim)
+    if "offset" in args:
+        offset = extract_tuple(args["offset"])
+    else:
+        offset = (0,) * a.type.ndim
 
     func_args = (a, *offset, t)
     template_args = []
@@ -2206,7 +2454,7 @@ def tile_store_dispatch_func(input_types: Mapping[str, type], return_type: Any,
 
 add_builtin(
     "tile_store",
-    input_types={"a": array(dtype=Any), "t": Tile(dtype=Any, shape=Any), "offset": Tuple[int, ...]},
+    input_types={"a": array(dtype=Any), "t": tile(dtype=Any, shape=Tuple[int, ...]), "offset": Tuple[int, ...]},
     value_func=tile_store_value_func,
     dispatch_func=tile_store_dispatch_func,
     defaults={"offset": None},
@@ -2226,7 +2474,7 @@ add_builtin(
 # overload for scalar offset
 add_builtin(
     "tile_store",
-    input_types={"a": array(dtype=Any), "t": Tile(dtype=Any, shape=Any), "offset": int},
+    input_types={"a": array(dtype=Any), "t": tile(dtype=Any, shape=Tuple[int, ...]), "offset": int},
     value_func=tile_store_value_func,
     dispatch_func=tile_store_dispatch_func,
     defaults={"offset": None},
@@ -2241,12 +2489,16 @@ add_builtin(
 def tile_atomic_add_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
     a = arg_types["a"]
     t = arg_types["t"]
 
-    c = tile_unpack_offset(arg_types, a.ndim)
+    if "offset" in arg_types:
+        c = extract_tuple(arg_values["offset"])
+    else:
+        c = (0,) * a.ndim
+
     if len(c) != a.ndim:
         raise ValueError(
             f"tile_atomic_add() 'a' argument must have {len(c)} dimensions, "
@@ -2264,14 +2516,21 @@ def tile_atomic_add_value_func(arg_types, arg_values):
             f"tile_atomic_add() 'a' and 't' arguments must have the same dtype, got {arg_types['a'].dtype} and {arg_types['t'].dtype}"
         )
 
-    return Tile(dtype=arg_types["t"].dtype, shape=arg_types["t"].shape, storage=arg_types["t"].storage)
+    return tile(
+        dtype=arg_types["t"].dtype,
+        shape=arg_types["t"].shape,
+        storage=arg_types["t"].storage,
+    )
 
 
 def tile_atomic_add_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
     a = args["a"]
     t = args["t"]
 
-    offset = tile_unpack_offset(args, a.type.ndim)
+    if "offset" in args:
+        offset = extract_tuple(args["offset"])
+    else:
+        offset = (0,) * a.type.ndim
 
     func_args = (a, *offset, t)
     template_args = []
@@ -2281,13 +2540,13 @@ def tile_atomic_add_dispatch_func(input_types: Mapping[str, type], return_type:
 
 add_builtin(
     "tile_atomic_add",
-    input_types={"a": array(dtype=Any), "t": Tile(dtype=Any, shape=Any), "offset": Tuple[int, ...]},
+    input_types={"a": array(dtype=Any), "t": tile(dtype=Any, shape=Tuple[int, ...]), "offset": Tuple[int, ...]},
     value_func=tile_atomic_add_value_func,
     dispatch_func=tile_atomic_add_dispatch_func,
     defaults={"offset": None},
     variadic=False,
     skip_replay=True,
-    doc="""Atomically add a 1D tile to the array `a`, each element will be updated atomically.
+    doc="""Atomically add a tile onto the array `a`, each element will be updated atomically.
 
     :param a: Array in global memory, should have the same ``dtype`` as the input tile
     :param t: Source tile to add to the destination array
@@ -2300,7 +2559,7 @@ add_builtin(
 # overload for scalar offset
 add_builtin(
     "tile_atomic_add",
-    input_types={"a": array(dtype=Any), "t": Tile(dtype=Any, shape=Any), "offset": int},
+    input_types={"a": array(dtype=Any), "t": tile(dtype=Any, shape=Tuple[int, ...]), "offset": int},
     value_func=tile_atomic_add_value_func,
     dispatch_func=tile_atomic_add_dispatch_func,
     defaults={"offset": None},
@@ -2315,54 +2574,59 @@ add_builtin(
 def tile_view_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
-    tile = arg_types["t"]
-    offset = arg_types["offset"]
+    tile_type = arg_types["t"]
+    offset = extract_tuple(arg_values["offset"])
 
-    if len(offset) > len(tile.shape):
-        raise ValueError(f"tile_view() specified too many offset coordinates {len(offset)} > {len(tile.shape)}")
+    if len(offset) > len(tile_type.shape):
+        raise ValueError(f"tile_view() specified too many offset coordinates {len(offset)} > {len(tile_type.shape)}")
 
     if "shape" in arg_values:
         # if shape is specified take it directly, e.g.:
         # tile_view(t, offset=(i,j), shape=(m,n))
-        shape = arg_values["shape"]
-        strides = tile.strides
+        shape = extract_tuple(arg_values["shape"], as_constant=True)
+        strides = tile_type.strides
 
-        if len(shape) != len(tile.shape):
+        if len(shape) != len(tile_type.shape):
             raise ValueError(
-                f"tile_view() if shape is specified it must have same number of dimensions as source tile, expected {len(tile.shape)}, got {len(shape)}"
+                f"tile_view() if shape is specified it must have same number of dimensions as source tile, expected {len(tile_type.shape)}, got {len(shape)}"
             )
     else:
         # if not specified, then take output shape from unspecified src dimensions
         # e.g.: tile[i] will return a whole row of a 2D tile
-        shape = tile.shape[len(offset) :]
-        strides = tile.strides[len(offset) :]
+        shape = tile_type.shape[len(offset) :]
+        strides = tile_type.strides[len(offset) :]
 
     assert len(shape) == len(strides)
 
     # force source tile to shared memory
-    tile.storage = "shared"
+    tile_type.storage = "shared"
 
-    output = Tile(dtype=tile.dtype, shape=shape, strides=strides, layout=tile.layout, storage="shared", owner=False)
+    output = tile(
+        dtype=tile_type.dtype, shape=shape, strides=strides, layout=tile_type.layout, storage="shared", owner=False
+    )
     return output
 
 
 def tile_view_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
     tile = arg_values["t"]
-    coord = arg_values["offset"]
+    coord = extract_tuple(arg_values["offset"])
 
     # zero-pad coord to match source array
     view_coord = [0] * len(tile.type.shape)
     for i in range(len(coord)):
         view_coord[i] = coord[i]
 
-    return ((tile, *view_coord), (return_type,))
+    func_args = (tile, *view_coord)
+    template_args = (return_type,)
+
+    return (func_args, template_args)
 
 
 add_builtin(
     "tile_view",
-    input_types={"t": Tile(dtype=Any, shape=Any), "offset": Tuple[int, ...], "shape": Tuple[int, ...]},
+    input_types={"t": tile(dtype=Any, shape=Tuple[int, ...]), "offset": Tuple[int, ...], "shape": Tuple[int, ...]},
     value_func=tile_view_value_func,
     dispatch_func=tile_view_dispatch_func,
     defaults={"shape": None},
@@ -2379,116 +2643,363 @@ add_builtin(
 )
 
 
-def tile_assign_value_func(arg_types, arg_values):
+def tile_squeeze_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
     if arg_types is None:
-        return None
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
-    # force the destination tile to shared memory
-    arg_types["dst"].storage = "shared"
-    return None
+    tile_type = arg_types["t"]
+    shape = tile_type.shape
+    strides = tile_type.strides
+    ndim = len(shape)
 
+    if "axis" in arg_values:
+        axis = arg_values["axis"]
 
-def tile_assign_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
-    dst = args["dst"]
-    src = args["src"]
+        if not isinstance(axis, Sequence):
+            # promote to tuple
+            axis = (axis,)
 
-    offset = tile_unpack_offset(args, len(dst.type.shape))
+        # promote negative indices to their positive equivalents
+        axis = tuple([a if a >= 0 else a + ndim for a in axis])
 
-    func_args = (dst, src, *offset)
-    template_args = []
+        # validate that specified axes are size 1
+        for a in axis:
+            if shape[a] != 1:
+                raise ValueError(
+                    f"Cannot select an axis to squeeze out which has size not equal to one, axis={a}, size={shape[a]}"
+                )
 
-    return (func_args, template_args)
+        # build new shape by skipping specified axes (if size is 1)
+        new_shape = tuple(dim for i, dim in enumerate(shape) if i not in axis)
+        new_strides = tuple(stride for i, stride in enumerate(strides) if i not in axis)
 
+    else:
+        # no axis specified: remove all singleton dimensions
+        new_shape = tuple(dim for dim in shape if dim != 1)
+        new_strides = tuple(stride for i, stride in enumerate(strides) if shape[i] != 1)
 
-add_builtin(
-    "tile_assign",
-    input_types={"dst": Tile(dtype=Any, shape=Any), "src": Tile(dtype=Any, shape=Any), "offset": Tuple[int, ...]},
-    value_func=tile_assign_value_func,
-    dispatch_func=tile_assign_dispatch_func,
-    defaults={"offset": None},
-    doc="""Assign a tile to a subrange of a destination tile.
+    # force source tile to shared memory
+    tile_type.storage = "shared"
+
+    output = tile(
+        dtype=tile_type.dtype,
+        shape=new_shape,
+        strides=new_strides,
+        layout=tile_type.layout,
+        storage="shared",
+        owner=False,
+    )
+    return output
 
-    :param dst: The destination tile to assign to
-    :param src: The source tile to read values from
-    :param offset: Offset in the destination tile to write to""",
-    group="Tile Primitives",
-    export=False,
-)
 
-# handles expressions like tile[i,j] = 1.0
-add_builtin(
-    "assign",
-    input_types={"dst": Tile(dtype=Any, shape=Any), "i": int, "src": Scalar},
-    value_func=tile_assign_value_func,
-    group="Tile Primitives",
-    export=False,
-    hidden=True,
-)
+def tile_squeeze_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
+    source_tile = arg_values["t"]
 
-add_builtin(
-    "assign",
-    input_types={"dst": Tile(dtype=Any, shape=Any), "i": int, "j": int, "src": Scalar},
-    value_func=tile_assign_value_func,
-    group="Tile Primitives",
-    export=False,
-    hidden=True,
-)
+    return ((source_tile,), (return_type,))
 
-add_builtin(
-    "assign",
-    input_types={"dst": Tile(dtype=Any, shape=Any), "i": int, "j": int, "k": int, "src": Scalar},
-    value_func=tile_assign_value_func,
-    group="Tile Primitives",
-    export=False,
-    hidden=True,
-)
 
 add_builtin(
-    "assign",
-    input_types={"dst": Tile(dtype=Any, shape=Any), "i": int, "j": int, "k": int, "l": int, "src": Scalar},
-    value_func=tile_assign_value_func,
+    "tile_squeeze",
+    input_types={"t": tile(dtype=Any, shape=Tuple[int, ...]), "axis": Tuple[int, ...]},
+    defaults={"axis": None},
+    value_func=tile_squeeze_value_func,
+    dispatch_func=tile_squeeze_dispatch_func,
+    variadic=False,
+    doc="""Return a squeezed view of a tile with the same data.
+
+    :param t: Input tile to squeeze
+    :param axis: A subset of the entries of length one in the shape (optional)
+    :returns: The input tile but with all or a subset of the dimensions of length one removed.""",
     group="Tile Primitives",
     export=False,
-    hidden=True,
 )
 
 
-def tile_value_func(arg_types, arg_values):
+def tile_reshape_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile
-
-    if len(arg_types) != 1:
-        raise TypeError(f"tile() takes exactly 1 positional argument but {len(arg_types)} were given")
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
-    dtype = None
-    length = None
+    tile_type = arg_types["t"]
 
-    if type_is_vector(arg_types["x"]):
-        dtype = arg_types["x"]._wp_scalar_type_
-        length = arg_types["x"]._shape_[0]
-        shape = (length, warp.codegen.options["block_dim"])
-    else:
-        dtype = arg_types["x"]
-        shape = (warp.codegen.options["block_dim"],)
+    # calculate total size of tile_type
+    size = 1
+    for s in tile_type.shape:
+        size *= int(s)
 
-    return Tile(dtype=dtype, shape=shape, op="tile")
+    shape = extract_tuple(arg_values["shape"], as_constant=True)
 
+    if None in shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
 
-add_builtin(
-    "tile",
-    input_types={"x": Any},
-    value_func=tile_value_func,
-    variadic=True,
-    doc="""Construct a new tile from per-thread kernel values.
+    # check for -1 dimension and reformat
+    if -1 in shape:
+        idx = size
+        denom = 1
+        minus_one_count = 0
+        for i, d in enumerate(shape):
+            if d == -1:
+                idx = i
+                minus_one_count += 1
+            else:
+                denom *= d
+        if minus_one_count > 1:
+            raise RuntimeError("Cannot infer shape if more than one index is -1.")
+        new_shape = list(shape)
+        new_shape[idx] = int(size / denom)
+        shape = tuple(new_shape)
+
+    # calculate total size of new shape
+    new_size = 1
+    for s in shape:
+        new_size *= int(s)
+
+    if new_size != size:
+        raise ValueError(f"New shape {shape} has total size {new_size} which does not match original size {size}")
+
+    # compute new strides matching shape
+    strides = []
+    stride = 1
+    for s in reversed(shape):
+        strides.append(stride)
+        stride *= s
+    strides = tuple(reversed(strides))
 
-    This function converts values computed using scalar kernel code to a tile representation for input into collective operations.
+    # force source tile to shared memory
+    tile_type.storage = "shared"
+
+    output = tile(
+        dtype=tile_type.dtype, shape=shape, strides=strides, layout=tile_type.layout, storage="shared", owner=False
+    )
+    return output
+
+
+def tile_reshape_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
+    tile = arg_values["t"]
+
+    return ((tile,), (return_type,))
+
+
+add_builtin(
+    "tile_reshape",
+    input_types={"t": tile(dtype=Any, shape=Tuple[int, ...]), "shape": Tuple[int, ...]},
+    value_func=tile_reshape_value_func,
+    dispatch_func=tile_reshape_dispatch_func,
+    variadic=False,
+    doc="""Return a reshaped view of a tile with the same data.
+
+    :param t: Input tile to reshape
+    :param shape: New shape for the tile
+    :returns: A tile containing the same data as the input tile, but arranged in a new shape.""",
+    group="Tile Primitives",
+    export=False,
+)
+
+
+def tile_astype_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
+    if arg_types is None:
+        return tile(dtype=Any, shape=Tuple[int, ...])
+
+    tile_type = arg_types["t"]
+    dtype = arg_values["dtype"]
+
+    return tile(dtype=dtype, shape=tile_type.shape)
+
+
+def tile_astype_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
+    tile = arg_values["t"]
+
+    return ((tile,), (return_type,))
+
+
+add_builtin(
+    "tile_astype",
+    input_types={"t": tile(dtype=Scalar, shape=Tuple[int, ...]), "dtype": Scalar},
+    value_func=tile_astype_value_func,
+    dispatch_func=tile_astype_dispatch_func,
+    variadic=False,
+    doc="""Return a new tile with the same data as the input tile, but with a different data type.
+
+    :param t: Input tile
+    :param dtype: New data type for the tile
+    :returns: A tile with the same data as the input tile, but with a different data type""",
+    group="Tile Primitives",
+    export=False,
+)
+
+
+def tile_assign_value_func(arg_types, arg_values):
+    if arg_types is None:
+        return None
+
+    # force the destination tile to shared memory
+    arg_types["dst"].storage = "shared"
+    return None
+
+
+def tile_assign_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
+    dst = args["dst"]
+    src = args["src"]
+
+    if "offset" in args:
+        offset = extract_tuple(args["offset"])
+    else:
+        offset = (0,) * len(dst.type.shape)
+
+    func_args = (dst, src, *offset)
+    template_args = []
+
+    return (func_args, template_args)
+
+
+add_builtin(
+    "tile_assign",
+    input_types={
+        "dst": tile(dtype=Any, shape=Tuple[int, ...]),
+        "src": tile(dtype=Any, shape=Tuple[int, ...]),
+        "offset": Tuple[int, ...],
+    },
+    value_func=tile_assign_value_func,
+    dispatch_func=tile_assign_dispatch_func,
+    defaults={"offset": None},
+    doc="""Assign a tile to a subrange of a destination tile.
+
+    :param dst: The destination tile to assign to
+    :param src: The source tile to read values from
+    :param offset: Offset in the destination tile to write to""",
+    group="Tile Primitives",
+    export=False,
+)
+
+# handles expressions like tile[i,j] = 1.0
+add_builtin(
+    "assign",
+    input_types={"dst": tile(dtype=Any, shape=Tuple[int]), "i": int, "src": Any},
+    value_func=tile_assign_value_func,
+    group="Tile Primitives",
+    export=False,
+    hidden=True,
+)
+
+add_builtin(
+    "assign",
+    input_types={"dst": tile(dtype=Any, shape=Tuple[int, int]), "i": int, "j": int, "src": Any},
+    value_func=tile_assign_value_func,
+    group="Tile Primitives",
+    export=False,
+    hidden=True,
+)
+
+add_builtin(
+    "assign",
+    input_types={"dst": tile(dtype=Any, shape=Tuple[int, int, int]), "i": int, "j": int, "k": int, "src": Any},
+    value_func=tile_assign_value_func,
+    group="Tile Primitives",
+    export=False,
+    hidden=True,
+)
+
+add_builtin(
+    "assign",
+    input_types={
+        "dst": tile(dtype=Any, shape=Tuple[int, int, int, int]),
+        "i": int,
+        "j": int,
+        "k": int,
+        "l": int,
+        "src": Any,
+    },
+    value_func=tile_assign_value_func,
+    group="Tile Primitives",
+    export=False,
+    hidden=True,
+)
+
+
+def tile_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
+    if arg_types is None:
+        return tile(dtype=Any, shape=Tuple)
+
+    if len(arg_types) > 2:
+        raise TypeError(f"tile() takes 1 positional argument and 1 optional argument but {len(arg_types)} were given")
+
+    preserve_type = arg_values["preserve_type"]
+
+    if preserve_type:
+        dtype = arg_types["x"]
+        shape = (warp.codegen.options["block_dim"],)
+
+        return tile(dtype=dtype, shape=shape)
+
+    else:
+        if type_is_vector(arg_types["x"]):
+            dtype = arg_types["x"]._wp_scalar_type_
+            length = arg_types["x"]._shape_[0]
+            shape = (length, warp.codegen.options["block_dim"])
+        elif type_is_quaternion(arg_types["x"]):
+            dtype = arg_types["x"]._wp_scalar_type_
+            shape = (4, warp.codegen.options["block_dim"])
+        elif type_is_matrix(arg_types["x"]):
+            dtype = arg_types["x"]._wp_scalar_type_
+            rows = arg_types["x"]._shape_[0]
+            cols = arg_types["x"]._shape_[1]
+            shape = (rows, cols, warp.codegen.options["block_dim"])
+        else:
+            dtype = arg_types["x"]
+            shape = (warp.codegen.options["block_dim"],)
+
+        return tile(dtype=dtype, shape=shape)
+
+
+def tile_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
+    x = arg_values["x"]
+    preserve_type = get_arg_value(arg_values["preserve_type"])
+
+    if preserve_type:
+        dtype = x.type
+        return ((x,), (dtype,))
+
+    else:
+        if type_is_vector(x.type):
+            dtype = x.type._wp_scalar_type_
+            length = x.type._shape_[0]
+            return ((x,), (dtype, length))
+        elif type_is_quaternion(x.type):
+            dtype = x.type._wp_scalar_type_
+            return ((x,), (dtype, 4))
+        elif type_is_matrix(x.type):
+            dtype = x.type._wp_scalar_type_
+            rows = x.type._shape_[0]
+            cols = x.type._shape_[1]
+            return ((x,), (rows, cols, dtype))
+        else:
+            dtype = x.type
+            return ((x,), (dtype,))
+
+
+add_builtin(
+    "tile",
+    input_types={"x": Any, "preserve_type": bool},
+    value_func=tile_value_func,
+    dispatch_func=tile_dispatch_func,
+    variadic=True,
+    defaults={"preserve_type": False},
+    doc="""Construct a new tile from per-thread kernel values.
+
+    This function converts values computed using scalar kernel code to a tile representation for input into collective operations.
 
     * If the input value is a scalar, then the resulting tile has ``shape=(block_dim,)``
     * If the input value is a vector, then the resulting tile has ``shape=(length(vector), block_dim)``
+    * If the input value is a vector, and ``preserve_type=True``, then the resulting tile has ``dtype=vector`` and ``shape=(block_dim,)``
+    * If the input value is a matrix, then the resulting tile has ``shape=(rows, cols, block_dim)``
+    * If the input value is a matrix, and ``preserve_type=True``, then the resulting tile has ``dtype=matrix`` and ``shape=(block_dim,)``
 
     :param x: A per-thread local value, e.g. scalar, vector, or matrix.
-    :returns: A tile with first dimension according to the value type length and a second dimension equal to ``block_dim``
+    :param preserve_type: If true, the tile will have the same data type as the input value.
+    :returns: If ``preserve_type=True``, a tile of type ``x.type`` of length ``block_dim``. Otherwise, an N-dimensional tile such that the first N-1 dimensions match the shape of ``x`` and the final dimension is of size ``block_dim``.
 
     This example shows how to create a linear sequence from thread variables:
 
@@ -2511,13 +3022,14 @@ add_builtin(
     """,
     group="Tile Primitives",
     export=False,
+    hidden=True,
 )
 
 
 def untile_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Scalar
+        return Any
 
     if len(arg_types) != 1:
         raise TypeError(f"untile() takes exactly 1 positional argument but {len(arg_types)} were given")
@@ -2536,13 +3048,15 @@ def untile_value_func(arg_types, arg_values):
         return t.dtype
     elif len(t.shape) == 2:
         return warp.types.vector(t.shape[0], t.dtype)
+    elif len(t.shape) == 3:
+        return warp.types.matrix((t.shape[0], t.shape[1]), t.dtype)
     else:
         raise ValueError(f"untile() argument must have a positive size in dimension 0, but got {t.shape[0]}")
 
 
 add_builtin(
     "untile",
-    input_types={"a": Tile(dtype=Any, shape=Any)},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...])},
     value_func=untile_value_func,
     variadic=True,
     doc="""Convert a tile back to per-thread values.
@@ -2592,7 +3106,7 @@ add_builtin(
 def tile_extract_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Scalar
+        return Any
 
     # force the input tile to shared memory
     arg_types["a"].storage = "shared"
@@ -2602,10 +3116,10 @@ def tile_extract_value_func(arg_types, arg_values):
 
 add_builtin(
     "tile_extract",
-    input_types={"a": Tile(dtype=Any, shape=Any), "i": int},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int]), "i": int},
     value_func=tile_extract_value_func,
     variadic=False,
-    doc="""Extract a single element from the tile and return it as a scalar type.
+    doc="""Extract a single element from the tile.
 
     This function will extract an element from the tile and broadcast its value to all threads in the block.
 
@@ -2619,13 +3133,12 @@ add_builtin(
     export=False,
 )
 
-
 add_builtin(
     "tile_extract",
-    input_types={"a": Tile(dtype=Any, shape=Any), "i": int, "j": int},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, int]), "i": int, "j": int},
     value_func=tile_extract_value_func,
     variadic=False,
-    doc="""Extract a single element from the tile and return it as a scalar type.
+    doc="""Extract a single element from the tile.
 
     This function will extract an element from the tile and broadcast its value to all threads in the block.
 
@@ -2642,10 +3155,10 @@ add_builtin(
 
 add_builtin(
     "tile_extract",
-    input_types={"a": Tile(dtype=Any, shape=Any), "i": int, "j": int, "k": int},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, int, int]), "i": int, "j": int, "k": int},
     value_func=tile_extract_value_func,
     variadic=False,
-    doc="""Extract a single element from the tile and return it as a scalar type.
+    doc="""Extract a single element from the tile.
 
     This function will extract an element from the tile and broadcast its value to all threads in the block.
 
@@ -2663,10 +3176,10 @@ add_builtin(
 
 add_builtin(
     "tile_extract",
-    input_types={"a": Tile(dtype=Any, shape=Any), "i": int, "j": int, "k": int, "l": int},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, int, int, int]), "i": int, "j": int, "k": int, "l": int},
     value_func=tile_extract_value_func,
     variadic=False,
-    doc="""Extract a single element from the tile and return it as a scalar type.
+    doc="""Extract a single element from the tile.
 
     This function will extract an element from the tile and broadcast its value to all threads in the block.
 
@@ -2684,10 +3197,90 @@ add_builtin(
 )
 
 
+def tile_inplace_value_func(arg_types, arg_values):
+    if not types_equal(arg_types["a"].dtype, arg_types["value"]):
+        raise TypeError(
+            f"'value' must have the same dtype as target tile for inplace ops, got {arg_types['a'].dtype} and {arg_types['value']}"
+        )
+
+    # force the input tile to shared memory
+    # as inplace addition/subtraction relies on shared memory atomics
+    arg_types["a"].storage = "shared"
+
+    return None
+
+
+add_builtin(
+    "tile_add_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+add_builtin(
+    "tile_add_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "j": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+add_builtin(
+    "tile_add_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "j": int, "k": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+add_builtin(
+    "tile_add_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "j": int, "k": int, "l": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+
+add_builtin(
+    "tile_sub_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+add_builtin(
+    "tile_sub_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "j": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+add_builtin(
+    "tile_sub_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "j": int, "k": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+add_builtin(
+    "tile_sub_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "i": int, "j": int, "k": int, "l": int, "value": Any},
+    value_func=tile_inplace_value_func,
+    group="Tile Primitives",
+    hidden=True,
+    export=False,
+)
+
+
 def tile_transpose_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile
+        return tile(dtype=Any, shape=Tuple[int, int])
 
     if len(arg_types) != 1:
         raise TypeError(f"tile_transpose() takes exactly 1 positional argument but {len(arg_types)} were given")
@@ -2708,10 +3301,9 @@ def tile_transpose_value_func(arg_types, arg_values):
     # force the input tile to shared memory
     t.storage = "shared"
 
-    return Tile(
+    return tile(
         dtype=t.dtype,
         shape=t.shape[::-1],
-        op="transpose",
         storage=t.storage,
         strides=t.strides[::-1],
         layout=layout,
@@ -2721,7 +3313,7 @@ def tile_transpose_value_func(arg_types, arg_values):
 
 add_builtin(
     "tile_transpose",
-    input_types={"a": Tile(dtype=Any, shape=Any)},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, int])},
     value_func=tile_transpose_value_func,
     variadic=True,
     doc="""Transpose a tile.
@@ -2739,12 +3331,16 @@ add_builtin(
 def tile_broadcast_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
     t = arg_types["a"]
 
     # target shape and strides
-    target_shape = tile_unpack_shape(arg_values)
+    target_shape = extract_tuple(arg_values["shape"], as_constant=True)
+
+    if None in target_shape:
+        raise ValueError("Tile functions require shape to be a compile time constant.")
+
     target_strides = [0] * len(target_shape)
 
     offset = len(target_shape) - len(t.shape)
@@ -2769,10 +3365,7 @@ def tile_broadcast_value_func(arg_types, arg_values):
     # force the input tile to shared memory
     t.storage = "shared"
 
-    tile_type = Tile(
-        dtype=t.dtype, shape=target_shape, op="broadcast", storage=t.storage, strides=target_strides, owner=False
-    )
-    return tile_type
+    return tile(dtype=t.dtype, shape=target_shape, storage=t.storage, strides=target_strides, owner=False)
 
 
 def tile_broadcast_dispatch_func(arg_types: Mapping[str, type], return_type: Any, arg_values: Mapping[str, Var]):
@@ -2787,7 +3380,7 @@ def tile_broadcast_dispatch_func(arg_types: Mapping[str, type], return_type: Any
 
 add_builtin(
     "tile_broadcast",
-    input_types={"a": Tile(dtype=Any, shape=Any), "shape": Tuple[int, ...]},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "shape": Tuple[int, ...]},
     value_func=tile_broadcast_value_func,
     dispatch_func=tile_broadcast_dispatch_func,
     variadic=False,
@@ -2807,7 +3400,7 @@ add_builtin(
 def tile_sum_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=(1,))
+        return tile(dtype=Scalar, shape=(1,))
 
     if len(arg_types) != 1:
         raise TypeError(f"tile_sum() takes exactly 1 positional argument but {len(arg_types)} were given")
@@ -2817,12 +3410,12 @@ def tile_sum_value_func(arg_types, arg_values):
     if not is_tile(a):
         raise TypeError(f"tile_sum() argument must be a tile, got {a!r}")
 
-    return Tile(dtype=a.dtype, shape=(1,), op="sum")
+    return tile(dtype=a.dtype, shape=(1,))
 
 
 add_builtin(
     "tile_sum",
-    input_types={"a": Tile},
+    input_types={"a": tile(dtype=Scalar, shape=Tuple[int, ...])},
     value_func=tile_sum_value_func,
     variadic=True,
     doc="""Cooperatively compute the sum of the tile elements using all threads in the block.
@@ -2856,10 +3449,89 @@ add_builtin(
 )
 
 
+def tile_sort_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
+    if arg_types is None:
+        return None
+
+    if len(arg_types) != 2:
+        raise TypeError(
+            f"tile_sort() takes exactly 2 positional arguments (keys and values) but {len(arg_types)} were given"
+        )
+
+    a = arg_types["keys"]
+    b = arg_types["values"]
+
+    if not is_tile(a):
+        raise TypeError(f"First tile_sort() argument must be a tile, got {a!r}")
+
+    if not is_tile(b):
+        raise TypeError(f"Second tile_sort() argument must be a tile, got {b!r}")
+
+    if not (a.dtype is warp.float32 or a.dtype is warp.int32 or a.dtype is warp.uint32):
+        raise TypeError(f"First tile_sort() argument must be a tile of type float or int, got {a.dtype}")
+
+    # set the storage type to the inputs to shared
+    a.storage = "shared"
+    b.storage = "shared"
+
+    if len(a.shape) != len(b.shape):
+        raise ValueError(
+            f"tile_sort() shapes must have the same number of dimensions, got {len(a.shape)} and {len(b.shape)}"
+        )
+
+    for i in range(len(a.shape)):
+        if a.shape[i] != b.shape[i]:
+            raise ValueError(f"tile_sort() shapes do not match on dimension {i}, got {a.shape} and {b.shape}")
+
+    return None
+
+
+add_builtin(
+    "tile_sort",
+    input_types={"keys": tile(dtype=Any, shape=Tuple[int]), "values": tile(dtype=Any, shape=Tuple[int])},
+    value_func=tile_sort_value_func,
+    variadic=True,
+    doc="""Cooperatively sort the elements of two tiles in ascending order based on the keys, using all threads in the block.
+
+    :param keys: Keys to sort by. Supported key types: :class:`float32`, :class:`int32`, :class:`uint32`. Must be in shared memory.
+    :param values: Values to sort along with keys. No type restrictions. Must be in shared memory.
+    :returns: No return value. Sorts both tiles in-place.
+
+    Example:
+
+    .. code-block:: python
+
+        @wp.kernel
+        def compute():
+
+            keys = wp.tile_arange(32, 0, -1, dtype=int, storage="shared")
+            values = wp.tile_arange(0, 32, 1, dtype=int, storage="shared")
+            wp.tile_sort(keys, values)
+
+            print(keys)
+            print(values)
+
+
+        wp.launch_tiled(compute, dim=[1], inputs=[], block_dim=64)
+
+    Prints:
+
+    .. code-block:: text
+
+        [1, 2, ..., 32] = tile(shape=(32), storage=shared)
+        [31, 30, 29, ..., 0] = tile(shape=(32), storage=shared)
+
+    """,
+    group="Tile Primitives",
+    export=False,
+)
+
+
 def tile_min_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=(1,))
+        return tile(dtype=Scalar, shape=(1,))
 
     if len(arg_types) != 1:
         raise TypeError(f"tile_min() takes exactly 1 positional argument but {len(arg_types)} were given")
@@ -2869,12 +3541,12 @@ def tile_min_value_func(arg_types, arg_values):
     if not is_tile(a):
         raise TypeError(f"tile_min() argument must be a tile, got {a!r}")
 
-    return Tile(dtype=a.dtype, shape=(1,), op="min")
+    return tile(dtype=a.dtype, shape=(1,))
 
 
 add_builtin(
     "tile_min",
-    input_types={"a": Tile},
+    input_types={"a": tile(dtype=Scalar, shape=Tuple[int, ...])},
     value_func=tile_min_value_func,
     variadic=True,
     doc="""Cooperatively compute the minimum of the tile elements using all threads in the block.
@@ -2909,10 +3581,63 @@ add_builtin(
 )
 
 
+def tile_argmin_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
+    if arg_types is None:
+        return tile(dtype=Int, shape=(1,))
+
+    if len(arg_types) != 1:
+        raise TypeError(f"tile_argmin() takes exactly 1 positional argument but {len(arg_types)} were given")
+
+    a = arg_types["a"]
+
+    if not is_tile(a):
+        raise TypeError(f"tile_argmin() argument must be a tile, got {a!r}")
+
+    return tile(dtype=warp.int32, shape=(1,))
+
+
+add_builtin(
+    "tile_argmin",
+    input_types={"a": tile(dtype=Scalar, shape=Tuple[int, ...])},
+    value_func=tile_argmin_value_func,
+    variadic=True,
+    doc="""Cooperatively compute the index of the minimum element in the tile using all threads in the block.
+
+    :param a: The tile to compute the argmin from
+    :returns: A single-element tile holding the index of the minimum value
+
+    Example:
+
+    .. code-block:: python
+
+        @wp.kernel
+        def compute():
+
+            t = wp.tile_arange(64, 128)
+            s = wp.tile_argmin(t)
+
+            print(s)
+
+
+        wp.launch_tiled(compute, dim=[1], inputs=[], block_dim=64)
+
+    Prints:
+
+    .. code-block:: text
+
+        [0] = tile(shape=(1), storage=register)
+
+    """,
+    group="Tile Primitives",
+    export=False,
+)
+
+
 def tile_max_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=(1,))
+        return tile(dtype=Scalar, shape=(1,))
 
     if len(arg_types) != 1:
         raise TypeError(f"tile_max() takes exactly 1 positional argument but {len(arg_types)} were given")
@@ -2922,12 +3647,12 @@ def tile_max_value_func(arg_types, arg_values):
     if not is_tile(a):
         raise TypeError(f"tile_max() argument must be a tile, got {a!r}")
 
-    return Tile(dtype=a.dtype, shape=(1,), op="min")
+    return tile(dtype=a.dtype, shape=(1,))
 
 
 add_builtin(
     "tile_max",
-    input_types={"a": Tile(dtype=Any, shape=Any)},
+    input_types={"a": tile(dtype=Scalar, shape=Tuple[int, ...])},
     value_func=tile_max_value_func,
     variadic=False,
     doc="""Cooperatively compute the maximum of the tile elements using all threads in the block.
@@ -2961,17 +3686,69 @@ add_builtin(
 )
 
 
+def tile_argmax_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
+    if arg_types is None:
+        return tile(dtype=Int, shape=(1,))
+
+    if len(arg_types) != 1:
+        raise TypeError(f"tile_argmax() takes exactly 1 positional argument but {len(arg_types)} were given")
+
+    a = arg_types["a"]
+
+    if not is_tile(a):
+        raise TypeError(f"tile_argmax() argument must be a tile, got {a!r}")
+
+    return tile(dtype=warp.int32, shape=(1,))
+
+
+add_builtin(
+    "tile_argmax",
+    input_types={"a": tile(dtype=Scalar, shape=Tuple[int, ...])},
+    value_func=tile_argmax_value_func,
+    variadic=False,
+    doc="""Cooperatively compute the index of the maximum element in the tile using all threads in the block.
+
+    :param a: The tile to compute the argmax from
+    :returns: A single-element tile holding the index of the maximum value
+
+    Example:
+
+    .. code-block:: python
+
+        @wp.kernel
+        def compute():
+
+            t = wp.tile_arange(64, 128)
+            s = wp.tile_argmax(t)
+
+            print(s)
+
+        wp.launch_tiled(compute, dim=[1], inputs=[], block_dim=64)
+
+    Prints:
+
+    .. code-block:: text
+
+        [63] = tile(shape=(1), storage=register)
+
+    """,
+    group="Tile Primitives",
+    export=False,
+)
+
+
 # does type propagation for load()
 def tile_reduce_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=(1,))
+        return tile(dtype=Scalar, shape=(1,))
 
     a = arg_types["a"]
 
     if not is_tile(a):
         raise TypeError(f"tile_reduce() 'a' argument must be a tile, got {a!r}")
 
-    return Tile(dtype=a.dtype, shape=(1,), op="reduce")
+    return tile(dtype=a.dtype, shape=(1,))
 
 
 def tile_reduce_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
@@ -2982,7 +3759,7 @@ def tile_reduce_dispatch_func(input_types: Mapping[str, type], return_type: Any,
 
 add_builtin(
     "tile_reduce",
-    input_types={"op": Callable, "a": Tile(dtype=Any, shape=Any)},
+    input_types={"op": Callable, "a": tile(dtype=Scalar, shape=Tuple[int, ...])},
     value_func=tile_reduce_value_func,
     native_func="tile_reduce",
     doc="""Apply a custom reduction operator across the tile.
@@ -3005,37 +3782,164 @@ add_builtin(
 
             print(s)
 
-        wp.launch_tiled(factorial, dim=[1], inputs=[], block_dim=16)
+        wp.launch_tiled(factorial, dim=[1], inputs=[], block_dim=16)
+
+    Prints:
+
+    .. code-block:: text
+
+        [362880] = tile(shape=(1), storage=register)
+    """,
+    group="Tile Primitives",
+    export=False,
+)
+
+
+def tile_scan_inclusive_value_func(arg_types, arg_values):
+    # Return type is the same as input type
+    if arg_types is None:
+        return tile(dtype=Scalar, shape=Tuple[int, ...])
+
+    if len(arg_types) != 1:
+        raise TypeError(f"tile_scan_inclusive() takes exactly 1 positional argument but {len(arg_types)} were given")
+
+    a = arg_types["a"]
+
+    if not is_tile(a):
+        raise TypeError(f"tile_scan_inclusive() argument must be a tile, got {a!r}")
+
+    # Only allow float32, int32, or uint32 for scan (like tile_sort)
+    if not (a.dtype is warp.float32 or a.dtype is warp.int32 or a.dtype is warp.uint32):
+        raise TypeError(
+            f"tile_scan_inclusive() argument must be a tile of type float32, int32, or uint32, got {a.dtype}"
+        )
+
+    return tile(dtype=a.dtype, shape=a.shape)
+
+
+def tile_scan_inclusive_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
+    func_args = (args["a"],)
+    template_args = ()
+    return (func_args, template_args)
+
+
+add_builtin(
+    "tile_scan_inclusive",
+    input_types={"a": tile(dtype=Scalar, shape=Tuple[int, ...])},
+    value_func=tile_scan_inclusive_value_func,
+    native_func="tile_scan_inclusive",
+    doc="""Inclusive scan (prefix sum) across the tile.
+
+    This function cooperatively performs an inclusive scan (cumulative sum) across the tile.
+
+    :param a: The input tile. Must be a tile of type float32, int32, or uint32.
+    :returns: A new tile containing the inclusive scan result.
+
+    Example:
+
+    .. code-block:: python
+
+        @wp.kernel
+        def scan_example():
+            t = wp.tile_arange(1, 5, dtype=int)
+            s = wp.tile_scan_inclusive(t)
+            print(s)
+
+        wp.launch_tiled(scan_example, dim=[1], inputs=[], block_dim=16)
+
+    Prints:
+
+    .. code-block:: text
+
+        [1, 3, 6, 10] = tile(shape=(4), storage=register)
+    """,
+    group="Tile Primitives",
+    export=False,
+)
+
+
+def tile_scan_exclusive_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
+    if arg_types is None:
+        return tile(dtype=Scalar, shape=Tuple[int, ...])
+
+    if len(arg_types) != 1:
+        raise TypeError(f"tile_scan_exclusive() takes exactly 1 positional argument but {len(arg_types)} were given")
+
+    a = arg_types["a"]
+
+    if not is_tile(a):
+        raise TypeError(f"tile_scan_exclusive() argument must be a tile, got {a!r}")
+
+    # Only allow float32, int32, or uint32 for scan (like tile_sort)
+    if not (a.dtype is warp.float32 or a.dtype is warp.int32 or a.dtype is warp.uint32):
+        raise TypeError(
+            f"tile_scan_exclusive() argument must be a tile of type float32, int32, or uint32, got {a.dtype}"
+        )
+
+    return tile(dtype=a.dtype, shape=a.shape)
+
+
+def tile_scan_exclusive_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
+    func_args = (args["a"],)
+    template_args = ()
+    return (func_args, template_args)
+
+
+add_builtin(
+    "tile_scan_exclusive",
+    input_types={"a": tile(dtype=Scalar, shape=Tuple[int, ...])},
+    value_func=tile_scan_exclusive_value_func,
+    native_func="tile_scan_exclusive",
+    doc="""Exclusive scan (prefix sum) across the tile.
+
+    This function cooperatively performs an exclusive scan (cumulative sum) across the tile.
+
+    :param a: The input tile. Must be a tile of type float32, int32, or uint32.
+    :returns: A new tile containing the exclusive scan result.
+
+    Example:
+
+    .. code-block:: python
+
+        @wp.kernel
+        def scan_example():
+            t = wp.tile_arange(1, 5, dtype=int)
+            s = wp.tile_scan_exclusive(t)
+            print(s)
+
+        wp.launch_tiled(scan_example, dim=[1], inputs=[], block_dim=16)
 
     Prints:
 
     .. code-block:: text
 
-        [362880] = tile(shape=(1), storage=register)
+        [0, 1, 3, 6] = tile(shape=(4), storage=register)
     """,
     group="Tile Primitives",
     export=False,
 )
 
+
 # maps
 
 
 # does type propagation for load()
 def tile_unary_map_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Scalar, shape=Tuple[int, ...])
 
     a = arg_types["a"]
 
     if not is_tile(a):
         raise TypeError(f"tile_map() 'a' argument must be a tile, got {a!r}")
 
-    return TileUnaryMap(a)
+    return tile(dtype=a.dtype, shape=a.shape)
 
 
 add_builtin(
     "tile_map",
-    input_types={"op": Callable, "a": Tile(dtype=Any, shape=Any)},
+    input_types={"op": Callable, "a": tile(dtype=Scalar, shape=Tuple[int, ...])},
     value_func=tile_unary_map_value_func,
     # dispatch_func=tile_map_dispatch_func,
     # variadic=True,
@@ -3075,7 +3979,7 @@ add_builtin(
 
 def tile_binary_map_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Scalar, shape=Tuple[int, ...])
 
     a = arg_types["a"]
     b = arg_types["b"]
@@ -3100,12 +4004,16 @@ def tile_binary_map_value_func(arg_types, arg_values):
         if a.shape[i] != b.shape[i]:
             raise ValueError(f"tile_map() shapes do not match on dimension {i}, got {a.shape} and {b.shape}")
 
-    return TileBinaryMap(a, b)
+    return tile(dtype=a.dtype, shape=a.shape)
 
 
 add_builtin(
     "tile_map",
-    input_types={"op": Callable, "a": Tile(dtype=Any, shape=Any), "b": Tile(dtype=Any, shape=Any)},
+    input_types={
+        "op": Callable,
+        "a": tile(dtype=Scalar, shape=Tuple[int, ...]),
+        "b": tile(dtype=Scalar, shape=Tuple[int, ...]),
+    },
     value_func=tile_binary_map_value_func,
     # dispatch_func=tile_map_dispatch_func,
     # variadic=True,
@@ -3255,57 +4163,13 @@ add_builtin(
 )
 
 
-def mlp_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
-    warp.utils.warn(
-        "wp.mlp() is deprecated and will be removed in a future\nversion. Use tile primitives instead.",
-        category=DeprecationWarning,
-    )
-
-    func_args = tuple(args.values())
-    template_args = ()
-
-    return (func_args, template_args)
-
-
-add_builtin(
-    "mlp",
-    input_types={
-        "weights": array(dtype=float, ndim=2),
-        "bias": array(dtype=float, ndim=1),
-        "activation": Callable,
-        "index": int,
-        "x": array(dtype=float, ndim=2),
-        "out": array(dtype=float, ndim=2),
-    },
-    value_type=None,
-    dispatch_func=mlp_dispatch_func,
-    skip_replay=True,
-    doc="""Evaluate a multi-layer perceptron (MLP) layer in the form: ``out = act(weights*x + bias)``.
-
-    .. deprecated:: 1.6
-        Use :doc:`tile primitives </modules/tiles>` instead.
-
-    :param weights: A layer's network weights with dimensions ``(m, n)``.
-    :param bias: An array with dimensions ``(n)``.
-    :param activation: A ``wp.func`` function that takes a single scalar float as input and returns a scalar float as output
-    :param index: The batch item to process, typically each thread will process one item in the batch, in which case
-                  index should be ``wp.tid()``
-    :param x: The feature matrix with dimensions ``(n, b)``
-    :param out: The network output with dimensions ``(m, b)``
-
-    :note: Feature and output matrices are transposed compared to some other frameworks such as PyTorch.
-           All matrices are assumed to be stored in flattened row-major memory layout (NumPy default).""",
-    group="Utility",
-)
-
-
 # ---------------------------------
 # Geometry
 
 add_builtin(
     "bvh_query_aabb",
     input_types={"id": uint64, "low": vec3, "high": vec3},
-    value_func=lambda arg_types, _: BvhQuery if arg_types is None else bvh_query_t,
+    value_type=BvhQuery,
     group="Geometry",
     doc="""Construct an axis-aligned bounding box query against a BVH object.
 
@@ -3320,7 +4184,7 @@ add_builtin(
 add_builtin(
     "bvh_query_ray",
     input_types={"id": uint64, "start": vec3, "dir": vec3},
-    value_func=lambda arg_types, _: BvhQuery if arg_types is None else bvh_query_t,
+    value_type=BvhQuery,
     group="Geometry",
     doc="""Construct a ray query against a BVH object.
 
@@ -3380,7 +4244,7 @@ add_builtin(
         "point": vec3,
         "max_dist": float,
     },
-    value_func=lambda arg_types, _: MeshQueryPoint if arg_types is None else mesh_query_point_t,
+    value_type=MeshQueryPoint,
     group="Geometry",
     doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given ``point`` in space.
 
@@ -3428,7 +4292,7 @@ add_builtin(
         "point": vec3,
         "max_dist": float,
     },
-    value_func=lambda arg_types, _: MeshQueryPoint if arg_types is None else mesh_query_point_t,
+    value_type=MeshQueryPoint,
     group="Geometry",
     doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given ``point`` in space.
 
@@ -3474,7 +4338,7 @@ add_builtin(
         "point": vec3,
         "min_dist": float,
     },
-    value_func=lambda arg_types, _: MeshQueryPoint if arg_types is None else mesh_query_point_t,
+    value_type=MeshQueryPoint,
     group="Geometry",
     doc="""Computes the furthest point on the mesh with identifier `id` to the given point in space.
 
@@ -3531,7 +4395,7 @@ add_builtin(
         "epsilon": float,
     },
     defaults={"epsilon": 1.0e-3},
-    value_func=lambda arg_types, _: MeshQueryPoint if arg_types is None else mesh_query_point_t,
+    value_type=MeshQueryPoint,
     group="Geometry",
     doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given ``point`` in space.
 
@@ -3596,7 +4460,7 @@ add_builtin(
         "threshold": float,
     },
     defaults={"accuracy": 2.0, "threshold": 0.5},
-    value_func=lambda arg_types, _: MeshQueryPoint if arg_types is None else mesh_query_point_t,
+    value_type=MeshQueryPoint,
     group="Geometry",
     doc="""Computes the closest point on the :class:`Mesh` with identifier ``id`` to the given point in space.
 
@@ -3655,7 +4519,7 @@ add_builtin(
         "dir": vec3,
         "max_t": float,
     },
-    value_func=lambda arg_types, _: MeshQueryRay if arg_types is None else mesh_query_ray_t,
+    value_type=MeshQueryRay,
     group="Geometry",
     doc="""Computes the closest ray hit on the :class:`Mesh` with identifier ``id``.
 
@@ -3670,7 +4534,7 @@ add_builtin(
 add_builtin(
     "mesh_query_aabb",
     input_types={"id": uint64, "low": vec3, "high": vec3},
-    value_func=lambda arg_types, _: MeshQueryAABB if arg_types is None else mesh_query_aabb_t,
+    value_type=MeshQueryAABB,
     group="Geometry",
     doc="""Construct an axis-aligned bounding box query against a :class:`Mesh`.
 
@@ -3714,7 +4578,7 @@ add_builtin(
 add_builtin(
     "hash_grid_query",
     input_types={"id": uint64, "point": vec3, "max_dist": float},
-    value_func=lambda arg_types, _: HashGridQuery if arg_types is None else hash_grid_query_t,
+    value_type=HashGridQuery,
     group="Geometry",
     doc="""Construct a point query against a :class:`HashGrid`.
 
@@ -3843,10 +4707,10 @@ add_builtin(
 
 add_builtin("iter_next", input_types={"range": range_t}, value_type=int, group="Utility", export=False, hidden=True)
 add_builtin(
-    "iter_next", input_types={"query": hash_grid_query_t}, value_type=int, group="Utility", export=False, hidden=True
+    "iter_next", input_types={"query": HashGridQuery}, value_type=int, group="Utility", export=False, hidden=True
 )
 add_builtin(
-    "iter_next", input_types={"query": mesh_query_aabb_t}, value_type=int, group="Utility", export=False, hidden=True
+    "iter_next", input_types={"query": MeshQueryAABB}, value_type=int, group="Utility", export=False, hidden=True
 )
 
 add_builtin(
@@ -3889,7 +4753,7 @@ def _check_volume_type_is_supported(dtype):
 
 def check_volume_value_grad_compatibility(dtype, grad_dtype):
     if type_is_vector(dtype):
-        expected = matrix(shape=(type_length(dtype), 3), dtype=type_scalar_type(dtype))
+        expected = matrix(shape=(type_size(dtype), 3), dtype=type_scalar_type(dtype))
     else:
         expected = vector(length=3, dtype=dtype)
 
@@ -4062,6 +4926,7 @@ add_builtin(
     input_types={"id": uint64, "i": int, "j": int, "k": int, "value": float},
     group="Volumes",
     doc="""Store ``value`` at the voxel with coordinates ``i``, ``j``, ``k``.""",
+    export=False,
 )
 
 add_builtin(
@@ -4089,6 +4954,7 @@ add_builtin(
     input_types={"id": uint64, "i": int, "j": int, "k": int, "value": vec3},
     group="Volumes",
     doc="""Store ``value`` at the voxel with coordinates ``i``, ``j``, ``k``.""",
+    export=False,
 )
 
 add_builtin(
@@ -4114,6 +4980,7 @@ add_builtin(
     input_types={"id": uint64, "i": int, "j": int, "k": int, "value": int},
     group="Volumes",
     doc="""Store ``value`` at the voxel with coordinates ``i``, ``j``, ``k``.""",
+    export=False,
 )
 
 
@@ -4527,6 +5394,16 @@ add_builtin(
     native_func="builtin_tid1d",
 )
 
+add_builtin(
+    "block_dim",
+    input_types={},
+    value_type=int,
+    group="Utility",
+    doc="Returns the number of threads in the current block.",
+    namespace="",
+    native_func="builtin_block_dim",
+)
+
 add_builtin(
     "tid",
     input_types={},
@@ -4667,7 +5544,7 @@ def array_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any
         return array(dtype=Scalar)
 
     dtype = arg_values["dtype"]
-    shape = arg_values["shape"]
+    shape = extract_tuple(arg_values["shape"], as_constant=True)
     return array(dtype=dtype, ndim=len(shape))
 
 
@@ -4677,8 +5554,9 @@ def array_dispatch_func(input_types: Mapping[str, type], return_type: Any, args:
     # to the underlying C++ function's runtime and template params.
 
     dtype = return_type.dtype
+    shape = extract_tuple(args["shape"], as_constant=True)
 
-    func_args = (args["ptr"], *args["shape"])
+    func_args = (args["ptr"], *shape)
     template_args = (dtype,)
     return (func_args, template_args)
 
@@ -4958,6 +5836,12 @@ def create_atomic_op_value_func(op: str):
                     f"atomic_{op}() operations only work on arrays with [u]int32, [u]int64, float32, or float64 "
                     f"as the underlying scalar types, but got {type_repr(arr_type.dtype)} (with scalar type {type_repr(scalar_type)})"
                 )
+        elif op in ("cas", "exch"):
+            if not any(types_equal(scalar_type, x, match_generic=True) for x in SUPPORTED_ATOMIC_TYPES):
+                raise RuntimeError(
+                    f"atomic_{op}() operations only work on arrays with [u]int32, [u]int64, float32, or float64 "
+                    f"as the underlying scalar types, but got {type_repr(arr_type.dtype)} (with scalar type {type_repr(scalar_type)})"
+                )
         else:
             raise NotImplementedError
 
@@ -5187,6 +6071,120 @@ for array_type in array_types:
         skip_replay=True,
     )
 
+    add_builtin(
+        "atomic_cas",
+        hidden=hidden,
+        input_types={"arr": array_type(dtype=Any), "i": Int, "compare": Any, "value": Any},
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("cas"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically compare and swap ``value`` with ``arr[i]`` if ``arr[i]`` equals ``compare``, and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+    add_builtin(
+        "atomic_cas",
+        hidden=hidden,
+        input_types={"arr": array_type(dtype=Any), "i": Int, "j": Int, "compare": Any, "value": Any},
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("cas"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically compare and swap ``value`` with ``arr[i,j]`` if ``arr[i,j]`` equals ``compare``, and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+    add_builtin(
+        "atomic_cas",
+        hidden=hidden,
+        input_types={"arr": array_type(dtype=Any), "i": Int, "j": Int, "k": Int, "compare": Any, "value": Any},
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("cas"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically compare and swap ``value`` with ``arr[i,j,k]`` if ``arr[i,j,k]`` equals ``compare``, and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+    add_builtin(
+        "atomic_cas",
+        hidden=hidden,
+        input_types={
+            "arr": array_type(dtype=Any),
+            "i": Int,
+            "j": Int,
+            "k": Int,
+            "l": Int,
+            "compare": Any,
+            "value": Any,
+        },
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("cas"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically compare and swap ``value`` with ``arr[i,j,k,l]`` if ``arr[i,j,k,l]`` equals ``compare``, and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+
+    add_builtin(
+        "atomic_exch",
+        hidden=hidden,
+        input_types={"arr": array_type(dtype=Any), "i": Int, "value": Any},
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("exch"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically exchange ``value`` with ``arr[i]`` and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+    add_builtin(
+        "atomic_exch",
+        hidden=hidden,
+        input_types={"arr": array_type(dtype=Any), "i": Int, "j": Int, "value": Any},
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("exch"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically exchange ``value`` with ``arr[i,j]`` and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+    add_builtin(
+        "atomic_exch",
+        hidden=hidden,
+        input_types={"arr": array_type(dtype=Any), "i": Int, "j": Int, "k": Int, "value": Any},
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("exch"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically exchange ``value`` with ``arr[i,j,k]`` and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+    add_builtin(
+        "atomic_exch",
+        hidden=hidden,
+        input_types={"arr": array_type(dtype=Any), "i": Int, "j": Int, "k": Int, "l": Int, "value": Any},
+        constraint=atomic_op_constraint,
+        value_func=create_atomic_op_value_func("exch"),
+        dispatch_func=atomic_op_dispatch_func,
+        doc="""Atomically exchange ``value`` with ``arr[i,j,k,l]`` and return the old value.
+
+    The operation is only atomic on a per-component basis for vectors and matrices.""",
+        group="Utility",
+        skip_replay=True,
+    )
+
 
 # used to index into builtin types, i.e.: y = vec3[1]
 def extract_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
@@ -5269,6 +6267,16 @@ add_builtin(
     group="Utility",
     skip_replay=True,
 )
+# implements &transformation[index]
+add_builtin(
+    "index",
+    input_types={"a": transformation(dtype=Float), "i": int},
+    value_func=vector_index_value_func,
+    dispatch_func=vector_index_dispatch_func,
+    hidden=True,
+    group="Utility",
+    skip_replay=True,
+)
 # implements &(*vector)[index]
 add_builtin(
     "indexref",
@@ -5289,6 +6297,16 @@ add_builtin(
     group="Utility",
     skip_replay=True,
 )
+# implements &(*transformation)[index]
+add_builtin(
+    "indexref",
+    input_types={"a": transformation(dtype=Float), "i": int},
+    value_func=vector_index_value_func,
+    dispatch_func=vector_index_dispatch_func,
+    hidden=True,
+    group="Utility",
+    skip_replay=True,
+)
 
 
 # implements vector[index] = value
@@ -5297,6 +6315,7 @@ add_builtin(
     input_types={"a": vector(length=Any, dtype=Scalar), "i": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5306,6 +6325,16 @@ add_builtin(
     input_types={"a": quaternion(dtype=Scalar), "i": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
+    group="Utility",
+)
+# implements transformation[index] = value
+add_builtin(
+    "assign_inplace",
+    input_types={"a": transformation(dtype=Scalar), "i": int, "value": Scalar},
+    value_type=None,
+    hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5321,6 +6350,7 @@ add_builtin(
     input_types={"a": vector(length=Any, dtype=Scalar), "i": int, "value": Scalar},
     value_func=vector_assign_value_func,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5330,6 +6360,17 @@ add_builtin(
     input_types={"a": quaternion(dtype=Scalar), "i": int, "value": Scalar},
     value_func=vector_assign_value_func,
     hidden=True,
+    export=False,
+    group="Utility",
+)
+
+# implements transformation[index] = value, performs a copy internally if wp.config.enable_vector_component_overwrites is True
+add_builtin(
+    "assign_copy",
+    input_types={"a": transformation(dtype=Scalar), "i": int, "value": Scalar},
+    value_func=vector_assign_value_func,
+    hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5339,6 +6380,7 @@ add_builtin(
     input_types={"a": vector(length=Any, dtype=Scalar), "i": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5348,6 +6390,27 @@ add_builtin(
     input_types={"a": quaternion(dtype=Scalar), "i": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
+    group="Utility",
+)
+
+# implements transformation[idx] += scalar
+add_builtin(
+    "add_inplace",
+    input_types={"a": transformation(dtype=Float), "i": int, "value": Float},
+    value_type=None,
+    hidden=True,
+    export=False,
+    group="Utility",
+)
+
+# implements transformation.p += vec3
+add_builtin(
+    "transform_add_inplace",
+    input_types={"a": transformation(dtype=Float), "value": vector(length=3, dtype=Float)},
+    value_type=None,
+    hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5357,6 +6420,7 @@ add_builtin(
     input_types={"a": vector(length=Any, dtype=Scalar), "i": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5366,6 +6430,27 @@ add_builtin(
     input_types={"a": quaternion(dtype=Scalar), "i": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
+    group="Utility",
+)
+
+# implements transformation[idx] -= scalar
+add_builtin(
+    "sub_inplace",
+    input_types={"a": transformation(dtype=Scalar), "i": int, "value": Scalar},
+    value_type=None,
+    hidden=True,
+    export=False,
+    group="Utility",
+)
+
+# implements transformation.p -= vec3
+add_builtin(
+    "transform_sub_inplace",
+    input_types={"a": transformation(dtype=Float), "value": vector(length=3, dtype=Float)},
+    value_type=None,
+    hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5407,7 +6492,7 @@ add_builtin(
 
 
 def matrix_vector_sametype(arg_types: Mapping[str, Any]):
-    mat_size = arg_types["a"]._shape_[0]
+    mat_size = arg_types["a"]._shape_[1]
     vec_size = arg_types["value"]._length_
     mat_type = arg_types["a"]._type_
     vec_type = arg_types["value"]._type_
@@ -5420,6 +6505,7 @@ add_builtin(
     input_types={"a": matrix(shape=(Any, Any), dtype=Scalar), "i": int, "j": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5431,6 +6517,7 @@ add_builtin(
     constraint=matrix_vector_sametype,
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5446,6 +6533,7 @@ add_builtin(
     input_types={"a": matrix(shape=(Any, Any), dtype=Scalar), "i": int, "j": int, "value": Scalar},
     value_func=matrix_assign_value_func,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5457,6 +6545,7 @@ add_builtin(
     constraint=matrix_vector_sametype,
     value_func=matrix_assign_value_func,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5467,6 +6556,7 @@ add_builtin(
     input_types={"a": matrix(shape=(Any, Any), dtype=Scalar), "i": int, "j": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5478,6 +6568,7 @@ add_builtin(
     constraint=matrix_vector_sametype,
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5488,6 +6579,7 @@ add_builtin(
     input_types={"a": matrix(shape=(Any, Any), dtype=Scalar), "i": int, "j": int, "value": Scalar},
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5498,6 +6590,7 @@ add_builtin(
     input_types={"a": matrix(shape=(Any, Any), dtype=Scalar), "i": int, "value": vector(length=Any, dtype=Scalar)},
     value_type=None,
     hidden=True,
+    export=False,
     group="Utility",
 )
 
@@ -5522,6 +6615,7 @@ for t in scalar_types + vector_types + (bool,):
         doc="Prints an error to stdout if ``a`` and ``b`` are not equal",
         group="Utility",
         hidden=True,
+        export=False,
     )
 
 
@@ -5549,6 +6643,7 @@ add_builtin(
     doc="Prints an error to stdout if ``a`` and ``b`` are equal",
     group="Utility",
     hidden=True,
+    export=False,
 )
 
 add_builtin(
@@ -5568,6 +6663,7 @@ add_builtin(
     doc="Prints an error to stdout if ``a`` and ``b`` are equal",
     group="Utility",
     hidden=True,
+    export=False,
 )
 
 add_builtin(
@@ -5638,11 +6734,23 @@ add_builtin(
     group="Utility",
 )
 
+
 # fuzzy compare for float values
+def expect_near_constraint(arg_types: Mapping[str, type]):
+    if not types_equal(arg_types["a"], arg_types["b"]):
+        return False
+
+    if hasattr(arg_types["a"], "_wp_scalar_type_"):
+        return types_equal(arg_types["a"]._wp_scalar_type_, arg_types["tolerance"])
+
+    return types_equal(arg_types["a"], arg_types["tolerance"])
+
+
 add_builtin(
     "expect_near",
     input_types={"a": Float, "b": Float, "tolerance": Float},
     defaults={"tolerance": 1.0e-6},
+    constraint=expect_near_constraint,
     value_type=None,
     doc="Prints an error to stdout if ``a`` and ``b`` are not closer than tolerance in magnitude",
     group="Utility",
@@ -5651,6 +6759,7 @@ add_builtin(
     "expect_near",
     input_types={"a": vector(length=Any, dtype=Float), "b": vector(length=Any, dtype=Float), "tolerance": Float},
     defaults={"tolerance": 1.0e-6},
+    constraint=expect_near_constraint,
     value_type=None,
     doc="Prints an error to stdout if any element of ``a`` and ``b`` are not closer than tolerance in magnitude",
     group="Utility",
@@ -5659,6 +6768,7 @@ add_builtin(
     "expect_near",
     input_types={"a": quaternion(dtype=Float), "b": quaternion(dtype=Float), "tolerance": Float},
     defaults={"tolerance": 1.0e-6},
+    constraint=expect_near_constraint,
     value_type=None,
     doc="Prints an error to stdout if any element of ``a`` and ``b`` are not closer than tolerance in magnitude",
     group="Utility",
@@ -5671,6 +6781,7 @@ add_builtin(
         "tolerance": Float,
     },
     defaults={"tolerance": 1.0e-6},
+    constraint=expect_near_constraint,
     value_type=None,
     doc="Prints an error to stdout if any element of ``a`` and ``b`` are not closer than tolerance in magnitude",
     group="Utility",
@@ -6088,19 +7199,19 @@ add_builtin("unot", input_types={"a": array(dtype=Any)}, value_type=builtins.boo
 # Tile operators
 def tile_unary_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Scalar, shape=Tuple[int, ...])
 
     t = arg_types["x"]
 
     if not is_tile(t):
         raise TypeError(f"Expected tile for unary expression, got {t}")
 
-    return TileUnaryMap(t)
+    return tile(dtype=t.dtype, shape=t.shape)
 
 
 def tile_scalar_mul_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Any, shape=Tuple[int, ...])
 
     x = arg_types["x"]
     y = arg_types["y"]
@@ -6110,19 +7221,19 @@ def tile_scalar_mul_value_func(arg_types, arg_values):
         if x.dtype != y:
             raise TypeError(f"Scalar factor type {y} does not match tile type {x.dtype} for tile*scalar")
 
-        return TileBinaryMap(x, TileConstant(y, x.shape))
+        return tile(dtype=x.dtype, shape=x.shape)
 
     # scalar*tile
     if is_tile(y):
         if y.dtype != x:
             raise TypeError(f"Scalar factor type {x} does not match tile type {y.dtype} for scalar*tile")
 
-        return TileBinaryMap(TileConstant(x, y.shape), y)
+        return tile(dtype=y.dtype, shape=y.shape)
 
 
 add_builtin(
     "neg",
-    input_types={"x": Tile(dtype=Any, shape=Any)},
+    input_types={"x": tile(dtype=Any, shape=Tuple[int, ...])},
     value_func=tile_unary_value_func,
     doc="Negate each element of a tile",
     export=False,
@@ -6132,7 +7243,7 @@ add_builtin(
 
 add_builtin(
     "add",
-    input_types={"a": Tile(dtype=Any, shape=Any), "b": Tile(dtype=Any, shape=Any)},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "b": tile(dtype=Any, shape=Tuple[int, ...])},
     value_func=tile_binary_map_value_func,
     # dispatch_func=tile_map_dispatch_func,
     # variadic=True,
@@ -6144,7 +7255,7 @@ add_builtin(
 
 add_builtin(
     "sub",
-    input_types={"a": Tile(dtype=Any, shape=Any), "b": Tile(dtype=Any, shape=Any)},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "b": tile(dtype=Any, shape=Tuple[int, ...])},
     value_func=tile_binary_map_value_func,
     # dispatch_func=tile_map_dispatch_func,
     # variadic=True,
@@ -6157,7 +7268,7 @@ add_builtin(
 
 add_builtin(
     "mul",
-    input_types={"x": Tile(dtype=Any, shape=Any), "y": Scalar},
+    input_types={"x": tile(dtype=Any, shape=Tuple[int, ...]), "y": Scalar},
     value_func=tile_scalar_mul_value_func,
     doc="Multiply each element of a tile by a scalar",
     export=False,
@@ -6167,7 +7278,7 @@ add_builtin(
 
 add_builtin(
     "mul",
-    input_types={"x": Scalar, "y": Tile(dtype=Any, shape=Any)},
+    input_types={"x": Scalar, "y": tile(dtype=Any, shape=Tuple[int, ...])},
     value_func=tile_scalar_mul_value_func,
     doc="Multiply each element of a tile by a scalar",
     export=False,
@@ -6176,9 +7287,48 @@ add_builtin(
 )
 
 
+def tile_inplace_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
+    a = args["a"]
+    b = args["b"]
+
+    a_type = input_types["a"]
+    b_type = input_types["b"]
+
+    if a_type.shape != b_type.shape:
+        raise ValueError(f"Tile inplace arguments must have the same shape, got {a_type.shape} and {b_type.shape}")
+
+    func_args = (a, b)
+    template_args = ()
+    return (func_args, template_args)
+
+
+add_builtin(
+    "add_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "b": tile(dtype=Any, shape=Tuple[int, ...])},
+    value_type=None,
+    dispatch_func=tile_inplace_dispatch_func,
+    export=False,
+    hidden=True,
+    native_func="tile_add_inplace",
+    group="Operators",
+)
+
+
+add_builtin(
+    "sub_inplace",
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...]), "b": tile(dtype=Any, shape=Tuple[int, ...])},
+    value_type=None,
+    dispatch_func=tile_inplace_dispatch_func,
+    export=False,
+    hidden=True,
+    native_func="tile_sub_inplace",
+    group="Operators",
+)
+
+
 def tile_diag_add_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Any, shape=Tuple[int, int])
 
     a = arg_types["a"]
     d = arg_types["d"]
@@ -6208,7 +7358,7 @@ def tile_diag_add_value_func(arg_types, arg_values):
         )
 
     # use first argument to define output type
-    return Tile(dtype=a.dtype, shape=a.shape, storage="shared")
+    return tile(dtype=a.dtype, shape=a.shape, layout=a.layout, strides=a.strides, storage="shared")
 
 
 def tile_diag_add_lto_dispatch_func(
@@ -6230,7 +7380,7 @@ def tile_diag_add_lto_dispatch_func(
 
 add_builtin(
     "tile_diag_add",
-    input_types={"a": Tile(dtype=Any, shape=Any), "d": Tile(dtype=Any, shape=Any)},
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, int]), "d": tile(dtype=Any, shape=Tuple[int])},
     value_func=tile_diag_add_value_func,
     lto_dispatch_func=tile_diag_add_lto_dispatch_func,
     native_func="tile_diag_add",
@@ -6240,18 +7390,40 @@ add_builtin(
 )
 
 
-##
-## MathDx, LTOIR-based, Tile functions
-##
+##
+## MathDx, LTOIR-based, Tile functions
+##
+
+
+##
+## Matmul
+##
+
+
+def tile_matmul_out_value_func(arg_types, arg_values):
+    # return generic type (for doc builds)
+    if arg_types is None:
+        return None
+
+    a = arg_types["a"]
+    b = arg_types["b"]
+
+    if not is_tile(a):
+        raise TypeError(f"tile_matmul() 'a' argument must be a tile, got {a!r}")
+
+    if not is_tile(b):
+        raise TypeError(f"tile_matmul() 'b' argument must be a tile, got {b!r}")
+
+    if not is_tile(arg_types["out"]):
+        raise TypeError(f"tile_matmul() 'out' argument must be a tile, got {arg_types['out']!r}")
+
+    return None
 
 
-##
-## Matmul
-##
 def tile_matmul_value_func(arg_types, arg_values):
     # return generic type (for doc builds)
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Float, shape=Tuple[int, int])
 
     a = arg_types["a"]
     b = arg_types["b"]
@@ -6262,16 +7434,7 @@ def tile_matmul_value_func(arg_types, arg_values):
     if not is_tile(b):
         raise TypeError(f"tile_matmul() 'b' argument must be a tile, got {b!r}")
 
-    # out = wp.tile_matmul(a, b)
-    if len(arg_types) == 2:
-        return Tile(dtype=a.dtype, shape=(a.shape[0], b.shape[1]), storage="shared")
-
-    # wp.tile_matmul(a, b, out)
-    elif len(arg_types) == 3:
-        if not is_tile(arg_types["out"]):
-            raise TypeError(f"tile_matmul() 'out' argument must be a tile, got {arg_types['out']!r}")
-
-    return None
+    return tile(dtype=a.dtype, shape=(a.shape[0], b.shape[1]), storage="shared")
 
 
 def tile_matmul_lto_dispatch_func(
@@ -6345,36 +7508,41 @@ def tile_matmul_lto_dispatch_func(
             num_threads,
             builder,
         )
-        # adjA += adjC * B^T - Transpose ~= flipped layout
-        (fun_backward_A, lto_backward_A) = warp.build.build_lto_dot(
-            M,
-            K,
-            N,
-            out.type.dtype,
-            b.type.dtype,
-            a.type.dtype,
-            out.type.layout,
-            tile_flip_layout(b.type.layout),
-            a.type.layout,
-            arch,
-            num_threads,
-            builder,
-        )
-        # adjB += A^T * adjC - Transpose ~= flipped layout
-        (fun_backward_B, lto_backward_B) = warp.build.build_lto_dot(
-            K,
-            N,
-            M,
-            a.type.dtype,
-            out.type.dtype,
-            b.type.dtype,
-            tile_flip_layout(a.type.layout),
-            out.type.layout,
-            b.type.layout,
-            arch,
-            num_threads,
-            builder,
-        )
+        if warp.config.enable_backward:
+            # adjA += adjC * B^T - Transpose ~= flipped layout
+            (fun_backward_A, lto_backward_A) = warp.build.build_lto_dot(
+                M,
+                K,
+                N,
+                out.type.dtype,
+                b.type.dtype,
+                a.type.dtype,
+                out.type.layout,
+                tile_flip_layout(b.type.layout),
+                a.type.layout,
+                arch,
+                num_threads,
+                builder,
+            )
+            # adjB += A^T * adjC - Transpose ~= flipped layout
+            (fun_backward_B, lto_backward_B) = warp.build.build_lto_dot(
+                K,
+                N,
+                M,
+                a.type.dtype,
+                out.type.dtype,
+                b.type.dtype,
+                tile_flip_layout(a.type.layout),
+                out.type.layout,
+                b.type.layout,
+                arch,
+                num_threads,
+                builder,
+            )
+        else:
+            # adjoints aren't computed, so we reuse fun_forward as a dummy arg
+            (fun_backward_A, lto_backward_A) = (fun_forward, None)
+            (fun_backward_B, lto_backward_B) = (fun_forward, None)
 
         return (
             (
@@ -6394,11 +7562,11 @@ def tile_matmul_lto_dispatch_func(
 add_builtin(
     "tile_matmul",
     input_types={
-        "a": Tile(dtype=Any, shape=Any),
-        "b": Tile(dtype=Any, shape=Any),
-        "out": Tile(dtype=Any, shape=Any),
+        "a": tile(dtype=Float, shape=Tuple[int, int]),
+        "b": tile(dtype=Float, shape=Tuple[int, int]),
+        "out": tile(dtype=Float, shape=Tuple[int, int]),
     },
-    value_func=tile_matmul_value_func,
+    value_func=tile_matmul_out_value_func,
     lto_dispatch_func=tile_matmul_lto_dispatch_func,
     variadic=False,
     doc="""Computes the matrix product and accumulates ``out += a*b``.
@@ -6420,7 +7588,7 @@ add_builtin(
 
 add_builtin(
     "tile_matmul",
-    input_types={"a": Tile(dtype=Any, shape=Any), "b": Tile(dtype=Any, shape=Any)},
+    input_types={"a": tile(dtype=Float, shape=Tuple[int, int]), "b": tile(dtype=Float, shape=Tuple[int, int])},
     value_func=tile_matmul_value_func,
     lto_dispatch_func=tile_matmul_lto_dispatch_func,
     variadic=False,
@@ -6447,7 +7615,7 @@ add_builtin(
 ##
 def tile_fft_generic_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=vector(length=2, dtype=Float), shape=Tuple[int, int])
 
     if len(arg_types) != 1:
         raise TypeError(f"tile_fft() takes exactly 1 positional argument but {len(arg_types)} were given")
@@ -6475,7 +7643,7 @@ def tile_fft_generic_lto_dispatch_func(
     arg_values: Mapping[str, Var],
     options: Mapping[str, Any],
     builder: warp.context.ModuleBuilder,
-    direction: str = None,
+    direction: str | None = None,
 ):
     inout = arg_values["inout"]
     inout.type.storage = "register"
@@ -6529,7 +7697,7 @@ def tile_fft_generic_lto_dispatch_func(
 
 add_builtin(
     "tile_fft",
-    input_types={"inout": Tile},
+    input_types={"inout": tile(dtype=vector(length=2, dtype=Float), shape=Tuple[int, int])},
     value_func=tile_fft_generic_value_func,
     lto_dispatch_func=functools.partial(tile_fft_generic_lto_dispatch_func, direction="forward"),
     variadic=True,
@@ -6550,7 +7718,7 @@ add_builtin(
 
 add_builtin(
     "tile_ifft",
-    input_types={"inout": Tile},
+    input_types={"inout": tile(dtype=vector(length=2, dtype=Float), shape=Tuple[int, int])},
     value_func=tile_fft_generic_value_func,
     lto_dispatch_func=functools.partial(tile_fft_generic_lto_dispatch_func, direction="inverse"),
     variadic=True,
@@ -6575,7 +7743,7 @@ add_builtin(
 ##
 def tile_cholesky_generic_value_func(arg_types, arg_values):
     if arg_types is None:
-        return Tile(dtype=Any, shape=Any)
+        return tile(dtype=Float, shape=Tuple[int, int])
 
     if len(arg_types) != 1:
         raise TypeError("tile_cholesky() requires 1 positional args")
@@ -6591,15 +7759,19 @@ def tile_cholesky_generic_value_func(arg_types, arg_values):
     if a.shape[0] != a.shape[1]:
         raise ValueError("tile_cholesky() argument must be square")
 
-    return Tile(dtype=a.dtype, shape=a.shape, storage="shared")
+    return tile(dtype=a.dtype, shape=a.shape, layout=a.layout, strides=a.strides, storage="shared")
 
 
-cusolver_function_map = {"getrf": 0, "getrf_no_pivot": 1, "potrf": 2, "potrs": 3}
+cusolver_function_map = {"getrf": 0, "getrf_no_pivot": 1, "potrf": 2, "potrs": 3, "trsm": 4}
 
 cusolver_type_map = {float32: ("wp::float32", 5), float64: ("wp::float64", 6)}
 
 cusolver_fill_mode_map = {"upper": 0, "lower": 1}
 
+cusolver_side_map = {"-": -1, "left": 0, "right": 1}
+
+cusolver_diag_map = {"-": -1, "unit": 0, "nounit": 1}
+
 
 def tile_cholesky_generic_lto_dispatch_func(
     arg_types: Mapping[str, type],
@@ -6623,20 +7795,20 @@ def tile_cholesky_generic_lto_dispatch_func(
     dtype, precision_enum = cusolver_type_map[a.type.dtype]
 
     # We already ensured a is square in tile_cholesky_generic_value_func()
-    M, N = a.type.shape[0], a.type.shape[1]
+    M, N = a.type.shape
     if out.type.shape[0] != M or out.type.shape[1] != M:
         raise ValueError("tile_cholesky() output tile must be square")
 
     solver = "potrf"
     solver_enum = cusolver_function_map[solver]
 
-    # cuSOLVERDx only supports col-major input/outputs,
-    # so we use upper to mimic a row-major input
-    fill_mode = cusolver_fill_mode_map["upper"]
+    side_enum = cusolver_side_map["-"]
+    diag_enum = cusolver_diag_map["-"]
+    fill_mode = cusolver_fill_mode_map["lower"]
 
     arch = options["output_arch"]
     num_threads = options["block_dim"]
-    parameter_list = f"({dtype}*, unsigned)"
+    parameter_list = f"({dtype}*, int*)"
 
     if arch is None or not warp.context.runtime.core.is_mathdx_enabled():
         # CPU/no-MathDx dispatch
@@ -6646,8 +7818,13 @@ def tile_cholesky_generic_lto_dispatch_func(
         lto_symbol, lto_code_data = warp.build.build_lto_solver(
             M,
             N,
+            1,
             solver,
             solver_enum,
+            side_enum,
+            diag_enum,
+            a.type.layout,
+            out.type.layout,
             fill_mode,
             arch,
             precision_enum,
@@ -6661,20 +7838,23 @@ def tile_cholesky_generic_lto_dispatch_func(
 
 add_builtin(
     "tile_cholesky",
-    input_types={"A": Tile},
+    input_types={"A": tile(dtype=Float, shape=Tuple[int, int])},
     value_func=tile_cholesky_generic_value_func,
     lto_dispatch_func=tile_cholesky_generic_lto_dispatch_func,
     variadic=True,
     doc="""Compute the Cholesky factorization L of a matrix A.
     L is lower triangular and satisfies LL^T = A.
 
+    Only the lower triangular portion of A is used for the decomposition;
+    the upper triangular part may be left unspecified.
+
     Note that computing the adjoint is not yet supported.
 
     Supported datatypes are:
         * float32
         * float64
 
-    :param A: A square, symmetric positive-definite, matrix.
+    :param A: A square, symmetric positive-definite, matrix. Only the lower triangular part of A is needed; the upper part is ignored.
     :returns L: A square, lower triangular, matrix, such that LL^T = A""",
     group="Tile Primitives",
     export=False,
@@ -6690,30 +7870,30 @@ def tile_cholesky_solve_generic_value_func(arg_types, arg_values):
         raise TypeError("tile_cholesky_solve() requires exactly 2 positional args")
 
     l = arg_types["L"]
-    x = arg_types["x"]
+    y = arg_types["y"]
 
     if not is_tile(l):
         raise TypeError(f"tile_cholesky_solve() 'L' argument must be a tile, got {l!r}")
 
-    if not is_tile(x):
-        raise TypeError(f"tile_cholesky_solve() 'x' argument must be a tile, got {l!r}")
+    if not is_tile(y):
+        raise TypeError(f"tile_cholesky_solve() 'y' argument must be a tile, got {l!r}")
 
-    if not types_equal(l.dtype, x.dtype):
-        raise TypeError(f"tile_cholesky_solve() arguments must have the same dtype, got {l.dtype} and {x.dtype}")
+    if not types_equal(l.dtype, y.dtype):
+        raise TypeError(f"tile_cholesky_solve() arguments must have the same dtype, got {l.dtype} and {y.dtype}")
 
     if l.shape[0] != l.shape[1]:
         raise ValueError("tile_cholesky_solve() 'L' argument must be square")
 
-    if len(x.shape) != 1:
-        raise TypeError("tile_cholesky_solve() 'x' argument must be a 1D tile")
+    if len(y.shape) > 2 or len(y.shape) < 1:
+        raise TypeError("tile_cholesky_solve() 'y' argument must be a 1D or 2D tile")
 
-    if x.shape[0] != l.shape[0]:
+    if y.shape[0] != l.shape[0]:
         raise ValueError(
-            f"tile_cholesky_solve() 'x' argument must have the same number of elements as the number of rows in 'L', "
-            f"got {x.shape[0]} elements in 'x' and {l.shape[0]} rows in 'L'"
+            f"tile_cholesky_solve() 'y' argument must have the same number of elements as the number of rows in 'L', "
+            f"got {y.shape[0]} elements in 'x' and {l.shape[0]} rows in 'L'"
         )
 
-    return Tile(dtype=l.dtype, shape=x.shape, storage="shared")
+    return tile(dtype=l.dtype, shape=y.shape, layout=y.layout, strides=y.strides, storage="shared")
 
 
 def tile_cholesky_solve_generic_lto_dispatch_func(
@@ -6725,37 +7905,38 @@ def tile_cholesky_solve_generic_lto_dispatch_func(
     builder: warp.context.ModuleBuilder,
 ):
     L = arg_values["L"]
-    x = arg_values["x"]
+    y = arg_values["y"]
     # force the storage type of the input variables to shared memory
     L.type.storage = "shared"
-    x.type.storage = "shared"
+    y.type.storage = "shared"
 
     if len(return_values) != 1:
         raise TypeError(f"tile_cholesky_solve() must return exactly one value, got {len(return_values)}")
 
-    y = return_values[0]
+    x = return_values[0]
 
-    if any(T not in cusolver_type_map.keys() for T in [x.type.dtype, L.type.dtype]):
+    if any(T not in cusolver_type_map.keys() for T in [y.type.dtype, L.type.dtype]):
         raise TypeError("tile_cholesky_solve() arguments be tiles of float64 or float32")
 
     dtype, precision_enum = cusolver_type_map[L.type.dtype]
-    M, N = L.type.shape[0], L.type.shape[1]
+    M, N = L.type.shape
+    NRHS = x.type.shape[1] if len(x.type.shape) > 1 else 1
 
-    if len(y.type.shape) != 1:
-        raise TypeError("tile_cholesky_solve() output vector must be 1D")
+    if len(x.type.shape) > 2 or len(x.type.shape) < 1:
+        raise TypeError(f"tile_cholesky_solve() output vector must be 1D or 2D, got {len(x.type.shape)}-D")
 
-    if y.type.shape[0] != M:
+    if x.type.shape[0] != M:
         raise ValueError(
             "tile_cholesky_solve() output vector must have same number of elements as the number of rows in 'L' "
-            f"got {y.type.shape[0]} elements in output and {M} rows in 'L'"
+            f"got {x.type.shape[0]} elements in output and {M} rows in 'L'"
         )
 
     solver = "potrs"
     solver_enum = cusolver_function_map[solver]
 
-    # cuSOLVERDx only supports col-major input/outputs,
-    # so we use upper to mimic a row-major input
-    fill_mode = cusolver_fill_mode_map["upper"]
+    side_enum = cusolver_side_map["-"]
+    diag_enum = cusolver_diag_map["-"]
+    fill_mode = cusolver_fill_mode_map["lower"]
 
     arch = options["output_arch"]
     num_threads = options["block_dim"]
@@ -6763,14 +7944,19 @@ def tile_cholesky_solve_generic_lto_dispatch_func(
 
     if arch is None or not warp.context.runtime.core.is_mathdx_enabled():
         # CPU/no-MathDx dispatch
-        return ((0, L, x, y), [], [], 0)
+        return ((0, L, y, x), [], [], 0)
     else:
         # generate the LTO
         lto_symbol, lto_code_data = warp.build.build_lto_solver(
             M,
             N,
+            NRHS,
             solver,
             solver_enum,
+            side_enum,
+            diag_enum,
+            L.type.layout,
+            y.type.layout,
             fill_mode,
             arch,
             precision_enum,
@@ -6779,12 +7965,12 @@ def tile_cholesky_solve_generic_lto_dispatch_func(
             builder,
         )
 
-        return ((Var(lto_symbol, str, False, True, False), L, x, y), [], [lto_code_data], 0)
+        return ((Var(lto_symbol, str, False, True, False), L, y, x), [], [lto_code_data], 0)
 
 
 add_builtin(
     "tile_cholesky_solve",
-    input_types={"L": Tile, "x": Tile},
+    input_types={"L": tile(dtype=Float, shape=Tuple[int, int]), "y": tile(dtype=Float, shape=Tuple[int])},
     value_func=tile_cholesky_solve_generic_value_func,
     lto_dispatch_func=tile_cholesky_solve_generic_lto_dispatch_func,
     variadic=True,
@@ -6797,13 +7983,276 @@ add_builtin(
         * float64
 
     :param L: A square, lower triangular, matrix, such that LL^T = A
-    :param x: An 1D tile of length M
-    :returns y: An 1D tile of length M such that LL^T y = x""",
+    :param y: A 1D or 2D tile of length M
+    :returns x: A tile of the same shape as y such that LL^T x = y""",
+    group="Tile Primitives",
+    export=False,
+    namespace="",
+)
+
+
+def tile_lower_solve_generic_lto_dispatch_func(
+    arg_types: Mapping[str, type],
+    return_type: Any,
+    return_values: List[Var],
+    arg_values: Mapping[str, Var],
+    options: Mapping[str, Any],
+    builder: warp.context.ModuleBuilder,
+):
+    L = arg_values["L"]
+    y = arg_values["y"]
+    # force the storage type of the input variables to shared memory
+    L.type.storage = "shared"
+    y.type.storage = "shared"
+
+    if any(T not in cusolver_type_map.keys() for T in [y.type.dtype, L.type.dtype]):
+        raise TypeError("tile_lower_solve() arguments must be tiles of float64 or float32")
+
+    if len(return_values) != 1:
+        raise TypeError(f"tile_lower_solve() must return exactly one value, got {len(return_values)}")
+
+    z = return_values[0]
+
+    dtype, precision_enum = cusolver_type_map[L.type.dtype]
+    M, N = L.type.shape
+    NRHS = z.type.shape[1] if len(z.type.shape) > 1 else 1
+
+    if len(z.type.shape) > 2 or len(z.type.shape) < 1:
+        raise TypeError(f"tile_lower_solve() output vector must be 1D or 2D, got {len(z.type.shape)}-D")
+
+    if z.type.shape[0] != M:
+        raise ValueError(
+            "tile_lower_solve() output vector must have same number of elements as the number of rows in 'L' "
+            f"got {z.type.shape[0]} elements in output and {M} rows in 'L'"
+        )
+
+    solver = "trsm"
+    solver_enum = cusolver_function_map[solver]
+
+    side_enum = cusolver_side_map["left"]
+    diag_enum = cusolver_diag_map["nounit"]
+    fill_mode = cusolver_fill_mode_map["lower"]
+
+    arch = options["output_arch"]
+    num_threads = options["block_dim"]
+    parameter_list = f"({dtype}*, {dtype}*)"
+
+    if arch is None or not warp.context.runtime.core.is_mathdx_enabled():
+        # CPU/no-MathDx dispatch
+        return ((0, L, y, z), [], [], 0)
+    else:
+        # generate the LTO
+        lto_symbol, lto_code_data = warp.build.build_lto_solver(
+            M,
+            N,
+            NRHS,
+            solver,
+            solver_enum,
+            side_enum,
+            diag_enum,
+            L.type.layout,
+            y.type.layout,
+            fill_mode,
+            arch,
+            precision_enum,
+            num_threads,
+            parameter_list,
+            builder,
+        )
+
+        return ((Var(lto_symbol, str, False, True, False), L, y, z), [], [lto_code_data], 0)
+
+
+def tile_lower_solve_generic_value_func(arg_types, arg_values):
+    if arg_types is None:
+        return tile(dtype=Float, shape=Tuple[int])
+
+    if len(arg_types) != 2:
+        raise TypeError("tile_lower_solve() requires exactly 2 positional args")
+
+    l = arg_types["L"]
+    y = arg_types["y"]
+
+    if not is_tile(l):
+        raise TypeError(f"tile_lower_solve() 'L' argument must be a tile, got {l!r}")
+
+    if not is_tile(y):
+        raise TypeError(f"tile_lower_solve() 'y' argument must be a tile, got {y!r}")
+
+    if not types_equal(l.dtype, y.dtype):
+        raise TypeError(f"tile_lower_solve() arguments must have the same dtype, got {l.dtype} and {y.dtype}")
+
+    if l.shape[0] != l.shape[1]:
+        raise ValueError("tile_lower_solve() 'L' argument must be square")
+
+    if len(y.shape) > 2 or len(y.shape) < 1:
+        raise TypeError("tile_lower_solve() 'y' argument must be a 1D or 2D tile")
+
+    if y.shape[0] != l.shape[0]:
+        raise ValueError(
+            f"tile_lower_solve() 'y' argument must have the same number of elements as the number of rows in 'L', "
+            f"got {y.shape[0]} elements in 'y' and {l.shape[0]} rows in 'L'"
+        )
+
+    return tile(dtype=l.dtype, shape=y.shape, layout=y.layout, strides=y.strides, storage="shared")
+
+
+add_builtin(
+    "tile_lower_solve",
+    input_types={"L": tile(dtype=Float, shape=Tuple[int, int]), "y": tile(dtype=Float, shape=Tuple[int])},
+    value_func=tile_lower_solve_generic_value_func,
+    lto_dispatch_func=tile_lower_solve_generic_lto_dispatch_func,
+    variadic=True,
+    doc="""Solve for z in Lz = y, where L is a lower triangular matrix.
+
+    This performs general forward substitution for a lower triangular system.
+
+    Note that computing the adjoint is not yet supported.
+
+    Supported datatypes are:
+        * float32
+        * float64
+
+    :param L: A square, non-singular, lower triangular matrix
+    :param y: A 1D or 2D tile with compatible shape
+    :returns z: A tile of the same shape as y such that Lz = y""",
+    group="Tile Primitives",
+    export=False,
+    namespace="",
+)
+
+
+def tile_upper_solve_generic_lto_dispatch_func(
+    arg_types: Mapping[str, type],
+    return_type: Any,
+    return_values: List[Var],
+    arg_values: Mapping[str, Var],
+    options: Mapping[str, Any],
+    builder: warp.context.ModuleBuilder,
+):
+    U = arg_values["U"]
+    z = arg_values["z"]
+    # force the storage type of the input variables to shared memory
+    U.type.storage = "shared"
+    z.type.storage = "shared"
+
+    if any(T not in cusolver_type_map.keys() for T in [z.type.dtype, U.type.dtype]):
+        raise TypeError("tile_upper_solve() arguments must be tiles of float64 or float32")
+
+    if len(return_values) != 1:
+        raise TypeError(f"tile_upper_solve() must return exactly one value, got {len(return_values)}")
+
+    x = return_values[0]
+
+    dtype, precision_enum = cusolver_type_map[U.type.dtype]
+    M, N = U.type.shape
+    NRHS = x.type.shape[1] if len(x.type.shape) > 1 else 1
+
+    if len(z.type.shape) > 2 or len(z.type.shape) < 1:
+        raise TypeError(f"tile_upper_solve() output tile must be 1D or 2D, got {len(z.type.shape)}-D")
+
+    if z.type.shape[0] != M:
+        raise ValueError(
+            "tile_upper_solve() output tile must have same number of elements as the number of rows in 'U' "
+            f"got {z.type.shape[0]} elements in output and {M} rows in 'U'"
+        )
+
+    solver = "trsm"
+    solver_enum = cusolver_function_map[solver]
+
+    side_enum = cusolver_side_map["left"]
+    diag_enum = cusolver_diag_map["nounit"]
+    fill_mode = cusolver_fill_mode_map["upper"]
+
+    arch = options["output_arch"]
+    num_threads = options["block_dim"]
+    parameter_list = f"({dtype}*, {dtype}*)"
+
+    if arch is None or not warp.context.runtime.core.is_mathdx_enabled():
+        # CPU/no-MathDx dispatch
+        return ((0, U, z, x), [], [], 0)
+    else:
+        # generate the LTO
+        lto_symbol, lto_code_data = warp.build.build_lto_solver(
+            M,
+            N,
+            NRHS,
+            solver,
+            solver_enum,
+            side_enum,
+            diag_enum,
+            U.type.layout,
+            z.type.layout,
+            fill_mode,
+            arch,
+            precision_enum,
+            num_threads,
+            parameter_list,
+            builder,
+        )
+
+        return ((Var(lto_symbol, str, False, True, False), U, z, x), [], [lto_code_data], 0)
+
+
+def tile_upper_solve_generic_value_func(arg_types, arg_values):
+    if arg_types is None:
+        return tile(dtype=Float, shape=Tuple[int])
+
+    if len(arg_types) != 2:
+        raise TypeError("tile_upper_solve() requires exactly 2 positional args")
+
+    u = arg_types["U"]
+    z = arg_types["z"]
+
+    if not is_tile(u):
+        raise TypeError(f"tile_upper_solve() 'U' argument must be a tile, got {u!r}")
+
+    if not is_tile(z):
+        raise TypeError(f"tile_upper_solve() 'z' argument must be a tile, got {z!r}")
+
+    if not types_equal(u.dtype, z.dtype):
+        raise TypeError(f"tile_upper_solve() arguments must have the same dtype, got {u.dtype} and {z.dtype}")
+
+    if u.shape[0] != u.shape[1]:
+        raise ValueError("tile_upper_solve() 'U' argument must be square")
+
+    if len(z.shape) > 2 or len(z.shape) < 1:
+        raise TypeError("tile_upper_solve() 'z' argument must be a 1D or 2D tile")
+
+    if z.shape[0] != u.shape[0]:
+        raise ValueError(
+            f"tile_upper_solve() 'z' argument must have the same number of elements as the number of rows in 'U', "
+            f"got {z.shape[0]} elements in 'z' and {u.shape[0]} rows in 'U'"
+        )
+
+    return tile(dtype=u.dtype, shape=z.shape, layout=z.layout, strides=z.strides, storage="shared")
+
+
+add_builtin(
+    "tile_upper_solve",
+    input_types={"U": tile(dtype=Float, shape=Tuple[int, int]), "z": tile(dtype=Float, shape=Tuple[int])},
+    value_func=tile_upper_solve_generic_value_func,
+    lto_dispatch_func=tile_upper_solve_generic_lto_dispatch_func,
+    variadic=True,
+    doc="""Solve for x in U x = z, where U is an upper triangular matrix.
+
+    This performs general back substitution for upper triangular systems.
+
+    Note that computing the adjoint is not yet supported.
+
+    Supported datatypes are:
+        * float32
+        * float64
+
+    :param U: A square, non-singular, upper triangular matrix
+    :param z: A 1D or 2D tile with compatible shape
+    :returns x: A tile of the same shape as z such that U x = z""",
     group="Tile Primitives",
     export=False,
     namespace="",
 )
 
+
 # ---------------------------------
 # Code Generation
 
@@ -6840,7 +8289,7 @@ def static(expr):
 add_builtin(
     "len",
     input_types={"a": vector(length=Any, dtype=Scalar)},
-    value_type=int,
+    value_func=static_len_value_func,
     doc="Return the number of elements in a vector.",
     group="Utility",
     export=False,
@@ -6849,7 +8298,7 @@ add_builtin(
 add_builtin(
     "len",
     input_types={"a": quaternion(dtype=Scalar)},
-    value_type=int,
+    value_func=static_len_value_func,
     doc="Return the number of elements in a quaternion.",
     group="Utility",
     export=False,
@@ -6858,7 +8307,7 @@ add_builtin(
 add_builtin(
     "len",
     input_types={"a": matrix(shape=(Any, Any), dtype=Scalar)},
-    value_type=int,
+    value_func=static_len_value_func,
     doc="Return the number of rows in a matrix.",
     group="Utility",
     export=False,
@@ -6867,7 +8316,7 @@ add_builtin(
 add_builtin(
     "len",
     input_types={"a": transformation(dtype=Float)},
-    value_type=int,
+    value_func=static_len_value_func,
     doc="Return the number of elements in a transformation.",
     group="Utility",
     export=False,
@@ -6884,9 +8333,83 @@ add_builtin(
 
 add_builtin(
     "len",
-    input_types={"a": Tile(dtype=Any, shape=Any)},
-    value_type=int,
+    input_types={"a": tile(dtype=Any, shape=Tuple[int, ...])},
+    value_func=static_len_value_func,
     doc="Return the number of rows in a tile.",
     group="Utility",
     export=False,
 )
+
+
+# ---------------------------------
+# Tuple
+
+
+def tuple_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    return tuple_t(arg_types["args"], arg_values["args"])
+
+
+def tuple_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
+    func_args = args.get("args", ())
+    template_args = ()
+    return (func_args, template_args)
+
+
+add_builtin(
+    "tuple",
+    input_types={"*args": Any},
+    value_func=tuple_value_func,
+    dispatch_func=tuple_dispatch_func,
+    variadic=True,
+    doc="Construct a tuple from a list of values",
+    group="Utility",
+    hidden=True,
+    missing_grad=True,
+    export=False,
+)
+
+
+def tuple_extract_value_func(arg_types: Mapping[str, type], arg_values: Mapping[str, Any]):
+    tuple_type = arg_types["a"]
+    elements = tuple_type.types if is_tuple(tuple_type) else tuple_type
+
+    if "i" not in arg_values:
+        raise RuntimeError("Tuple index must be a compile time expression.")
+
+    index = arg_values["i"]
+    if isinstance(index, Var):
+        raise RuntimeError("Tuple index must be a compile time expression.")
+
+    length = len(elements)
+    if index >= length:
+        raise RuntimeError(f"Tuple index out of bounds, {index} >= {length}")
+
+    value_type = elements[index]
+    return value_type
+
+
+def tuple_extract_dispatch_func(input_types: Mapping[str, type], return_type: Any, args: Mapping[str, Var]):
+    func_args = (args["a"],)
+    template_args = (args["i"].constant,)
+    return (func_args, template_args)
+
+
+add_builtin(
+    "extract",
+    input_types={"a": Tuple, "i": int},
+    value_func=tuple_extract_value_func,
+    dispatch_func=tuple_extract_dispatch_func,
+    group="Utility",
+    hidden=True,
+    missing_grad=True,
+)
+
+
+add_builtin(
+    "len",
+    input_types={"a": Tuple},
+    value_func=static_len_value_func,
+    doc="Return the number of elements in a tuple.",
+    group="Utility",
+    export=False,
+)