yuecideng · Oct 3, 2026 · Sep 21, 2026 · Sep 21, 2026 · Sep 21, 2026 · Oct 2, 2026
diff --git a/agent_context/MAP.yaml b/agent_context/MAP.yaml
@@ -9,8 +9,8 @@ topics:
 - id: simulation-system
   title: Simulation System
   aliases: [simulation system, simulation manager, Newton physics backend, motion module, sim motion, camera attachment, 运动能力模块, 仿真系统, 仿真管理器]
-  keywords: [SimulationManager, SimulationManagerCfg, RenderCfg, DLSSCfg, DLSS, frame_time_delta_ms,
-    offscreen_dlss_enabled, explicit physics stepping, arena, DexSim, PhysicsBackendCfg,
+  keywords: [SimulationManager, SimulationManagerCfg, RenderCfg, DenoisingCfg, DenoisingMode, DLSSCfg,
+    NRDCfg, DLSS, NRD, frame_time_delta_ms, explicit physics stepping, arena, DexSim, PhysicsBackendCfg,
     DefaultPhysicsCfg, NewtonPhysicsCfg, AutoSolverCfg, DexUniSolverCfg, DexUni, runtime control, deformable, particle set,
     ArticulationJointKinematics, get_parent_joint_chain, asset_physics_mode, joint_drive_props, enable_gravity,
     fixed-cadence playback, quaternion, xyzw]

diff --git a/agent_context/topics/simulation-system/rendering.md b/agent_context/topics/simulation-system/rendering.md
@@ -1,7 +1,8 @@
 # Rendering, attachment and startup diagnostics
 
-Read this for physics/render synchronization, native-window/DLSS configuration
-and readiness reporting. Return to the [simulation overview](simulation-system.md).
+Read this for physics/render synchronization, native-window/offscreen image
+processing and readiness reporting. Return to the
+[simulation overview](simulation-system.md).
 
 ## Rendering does not advance physics
 
@@ -51,22 +52,26 @@ Completion is marked only after all attachments succeed, so partial failures
 retry. The camera registry is the sole attachment-intent store. Detailed
 sensor behavior belongs to [sensors](../sensor-system/sensor-system.md).
 
-## Renderer and DLSS configuration
+## Renderer, denoising and reconstruction configuration
 
-`cfg/simulation.py:RenderCfg.apply_to_dexsim_config()` translates rendering and
-`DLSSCfg` into WorldConfig after automatic renderer resolution. Forward the
-DLSS master switch even when false, and retain config during headless startup
-for offscreen cameras or a later window. Native window/offscreen behavior can
-differ; settings not authored by EmbodiChain retain DexSim defaults.
+`cfg/simulation.py:RenderCfg.apply_to_dexsim_config()` translates rendering,
+`DenoisingCfg`, `DLSSCfg` and `NRDCfg` into WorldConfig after automatic renderer
+resolution. `DenoisingCfg` independently selects the window and offscreen
+pipelines from `off`, `optix`, `dlss` and `nrd`; `dlss` maps to DLSS Ray
+Reconstruction and `nrd` maps to standalone NRD RELAX. Native SR/REBLUR
+variants are not part of the EmbodiChain public contract. Retain the
+complete configuration during headless startup for offscreen cameras or a later
+window.
 
 The actual camera/window owns output dimensions; compatibility target fields
 must not resize it. Internal dimensions/upsample ratio affect FastRT/OfflineRT
 windows; hybrid/offscreen sizes derive from output size and quality.
 `frame_time_delta_ms` is render cadence, not physics/control cadence.
-`gym/utils/gym_utils.py:config_to_cfg()` decodes nested DLSS mappings. Scalar
-validation runs at construction and conversion after mutable edits. Configuration
-tests do not prove GPU/NGX support, which initializes on a rendered frame.
-Read exact renderer/quality defaults in the config source.
+`gym/utils/gym_utils.py:config_to_cfg()` decodes all three nested mappings.
+Scalar validation runs at construction and conversion after mutable edits.
+Configuration tests do not prove GPU/NGX/NRD runtime support, which initializes
+on a rendered frame. Read exact renderer and algorithm defaults in the config
+source.
 
 ## Startup summaries
 

diff --git a/agent_context/topics/simulation-system/simulation-system.md b/agent_context/topics/simulation-system/simulation-system.md
@@ -96,7 +96,7 @@ tests need non-symmetric rotations to expose component-order mistakes.
 | Backend/device selection, source overlays, collision/mass policy | [Physics configuration](physics-configuration.md); `cfg/`, `spawn/descriptors.py` |
 | Joint state order, drive lowering, mimic coupling, native adaptation | [Articulation and batch adapters](articulation-adapters.md); `objects/backends/`, `objects/articulation.py` |
 | Volume/surface state, topology and kinematic nodes | [Deformables](deformables.md); `cfg/deformable.py`, `objects/deformable/` |
-| Camera synchronization, native window, DLSS, startup readiness | [Rendering and diagnostics](rendering.md); manager, `cfg/simulation.py`, `_startup_summary.py` |
+| Camera synchronization, native window/offscreen denoising, startup readiness | [Rendering and diagnostics](rendering.md); manager, `cfg/simulation.py`, `_startup_summary.py` |
 | Robot definition, control parts, robot presets | [Robot system](../robot-system/robot-system.md) |
 | Camera attachment resolution or contact sensors | [Sensor system](../sensor-system/sensor-system.md) |
 | Browser export or native gizmos | [Visualization](../sim-visualization/sim-visualization.md), [native gizmos](../sim-visualization/native-gizmos.md) |

diff --git a/docs/source/api_reference/embodichain/embodichain.lab.sim.cfg.rst b/docs/source/api_reference/embodichain/embodichain.lab.sim.cfg.rst
@@ -32,13 +32,17 @@ UV seams and render detail.
 .. autosummary::
 
    AssetPhysicsMode
+   DenoisingMode
    MeshCollisionApproximation
 
 .. rubric:: Classes
 
 .. autosummary::
 
    RenderCfg
+   DenoisingCfg
+   DLSSCfg
+   NRDCfg
    PhysicsBackendCfg
    DefaultPhysicsCfg
    NewtonPhysicsCfg
@@ -105,20 +109,60 @@ properties are grouped under ``attrs.surface_props``. Volume elasticity uses
 ``youngs`` and ``poissons``. Configuration dictionaries serialize this same
 schema; no legacy aliases or field migration are provided.
 
-World-level configuration module
---------------------------------
+Rendering configuration module
+------------------------------
+
+Rendering types live in ``embodichain.lab.sim.cfg.rendering``. The public
+``dlss`` path maps to DLSS Ray Reconstruction and ``nrd`` maps to standalone
+NRD RELAX.
+
+.. currentmodule:: embodichain.lab.sim.cfg.rendering
+
+.. autosummary::
+
+   DenoisingMode
+   DenoisingCfg
+   DLSSCfg
+   NRDCfg
+   RenderCfg
+
+Physics configuration module
+----------------------------
+
+Physics backend types live in ``embodichain.lab.sim.cfg.physics``. The legacy
+``embodichain.lab.sim.cfg.simulation`` module remains a compatibility facade.
+For manager-owned Newton steps, ``sync_to_renderer=None`` or ``False`` publishes
+only for visual consumers; ``True`` additionally requests publication on steps
+without consumers.
+
+.. currentmodule:: embodichain.lab.sim.cfg.physics
+
+.. autosummary::
+
+   GPUMemoryCfg
+   PhysicsBackendCfg
+   DefaultPhysicsCfg
+   NewtonCollisionPipelineCfg
+   NewtonPhysicsCfg
+   physics_cfg_for_backend
+   physics_backend_from_cfg
+   validate_physics_cfg
+
+Compatibility facade
+--------------------
 
-The same world-level configuration types and backend selectors are available
-from ``embodichain.lab.sim.cfg.simulation``. For manager-owned Newton steps,
-``sync_to_renderer=None`` or ``False`` publishes only for visual consumers;
-``True`` additionally requests publication on steps without consumers. An open
-window remains a consumer regardless of this automatic policy.
+The historical ``embodichain.lab.sim.cfg.simulation`` module re-exports the
+rendering and physics configuration types for callers that have not migrated
+to the split modules.
 
 .. currentmodule:: embodichain.lab.sim.cfg.simulation
 
 .. autosummary::
 
+   DenoisingMode
+   DenoisingCfg
    DLSSCfg
+   NRDCfg
    RenderCfg
    GPUMemoryCfg
    PhysicsBackendCfg

diff --git a/docs/source/api_reference/embodichain/embodichain.lab.sim.rst b/docs/source/api_reference/embodichain/embodichain.lab.sim.rst
@@ -146,15 +146,27 @@ Utility
 
    embodichain.lab.sim.utility
 
-DLSS Configuration
-------------------
+Ray-Tracing Denoising and Reconstruction
+----------------------------------------
 
 .. currentmodule:: embodichain.lab.sim
 
-Configure window and offscreen Ray Reconstruction and Super Resolution through
-``SimulationManagerCfg.render_cfg.dlss``. Output resolution remains owned by the
-window or camera configuration.
+Select independent window and offscreen image-processing paths through
+``SimulationManagerCfg.render_cfg.denoising``. The public ``dlss`` path maps to
+DLSS Ray Reconstruction and ``nrd`` maps to standalone NRD RELAX. DLSS and NRD
+tuning remain in their dedicated nested configs; output resolution stays owned
+by the window or camera configuration.
+
+.. autodata:: DenoisingMode
+
+.. autoclass:: DenoisingCfg
+   :members:
+   :undoc-members:
 
 .. autoclass:: DLSSCfg
    :members:
    :undoc-members:
+
+.. autoclass:: NRDCfg
+   :members:
+   :undoc-members:
diff --git a/docs/source/overview/sim/sim_manager/rendering/configuration.md b/docs/source/overview/sim/sim_manager/rendering/configuration.md
@@ -1,7 +1,8 @@
 # Rendering Configuration
 
 The {class}`~embodichain.lab.sim.cfg.RenderCfg` class controls the renderer,
-ray-tracing sample count, tone mapping, and DLSS settings used by
+ray-tracing sample count, scoped denoising/reconstruction, tone mapping, DLSS,
+and NRD settings used by
 {class}`~embodichain.lab.sim.sim_manager.SimulationManager`.
 
 ## Core options
@@ -10,13 +11,15 @@ ray-tracing sample count, tone mapping, and DLSS settings used by
 | :--- | :--- | :--- | :--- |
 | `renderer` | `str` | `"auto"` | Renderer backend: `auto`, `hybrid`, `fast-rt`, or `rt`. |
 | `spp` | `int` | `1` | Samples per pixel for ray-traced rendering. Must be at least `1`. |
+| `denoising` | `DenoisingCfg` | `DenoisingCfg()` | Independent `window`/`offscreen` choices: `off`, `optix`, `dlss`, or `nrd`. |
 | `tone_mapping_enabled` | `bool` | `False` | Apply modified Reinhard tone mapping to RGB output. |
 | `tone_mapping_exposure` | `float` | `1.0` | Fixed linear exposure multiplier used before tone mapping. |
 | `dlss` | `DLSSCfg` | `DLSSCfg()` | NVIDIA DLSS settings. See {doc}`dlss`. |
+| `nrd` | `NRDCfg` | `NRDCfg()` | NVIDIA NRD settings for the public `nrd` path. |
 
-Ray-traced output uses DexSim's OptiX denoiser. Tone mapping affects RGB
-output only; depth, segmentation masks, normals, and position buffers remain
-unchanged.
+The public `dlss` path maps to DexSim `DLSS_RR`; the public `nrd` path maps to
+standalone DexSim `NRD_RELAX`. Tone mapping affects RGB output only; depth,
+segmentation masks, normals, and position buffers remain unchanged.
 
 ## Renderer selection
 
@@ -44,12 +47,13 @@ SimulationManager.set_default_renderer("fast-rt")
 
 ```python
 from embodichain.lab.sim import SimulationManagerCfg
-from embodichain.lab.sim.cfg import RenderCfg
+from embodichain.lab.sim.cfg import DenoisingCfg, RenderCfg
 
 sim_config = SimulationManagerCfg(
     render_cfg=RenderCfg(
         renderer="fast-rt",
         spp=4,
+        denoising=DenoisingCfg(window="dlss", offscreen="nrd"),
         tone_mapping_enabled=True,
         tone_mapping_exposure=1.0,
     )

diff --git a/docs/source/overview/sim/sim_manager/rendering/dlss.md b/docs/source/overview/sim/sim_manager/rendering/dlss.md
@@ -9,36 +9,24 @@ constructing a configuration object does not by itself initialize DLSS.
 
 ## Processing model
 
-DexSim manages Ray Reconstruction (RR) for denoising and reconstruction,
-and Super Resolution (SR) for upscaling. Offscreen DLSS and RR use DexSim's
-native defaults. `upscale_enabled` controls standalone SR when RR is disabled.
+DexSim manages Ray Reconstruction (RR) for the public `dlss` path. The public
+`nrd` path is configured separately through `RenderCfg.nrd` and maps to
+standalone NRD RELAX.
 
 ## EmbodiChain configuration
 
 The following fields are available under `RenderCfg.dlss`:
 
 | Parameter | Default | Description |
 | :--- | :---: | :--- |
-| `dlss_enabled` | `True` | Master switch for DLSS on window and offscreen targets. |
-| `upscale_enabled` | `True` | Enables standalone SR when RR is disabled. |
 | `dlss_quality` | `2` | Quality preset: `-1` auto, `0` ultra performance, `1` performance, `2` balanced, `3` quality, `4` ultra quality, or `5` DLAA. |
 | `render_width`, `render_height` | `0` | Optional internal dimensions for FastRT/OfflineRT windows. Zero derives the dimensions from the quality preset. |
 | `target_width`, `target_height` | `0` | Compatibility fields. Set the actual output size on the window or camera instead. |
 | `upsample_ratio` | `None` | Optional FastRT/OfflineRT ratio used to derive unset internal dimensions. |
 | `exposure_compensation` | `1.0` | Positive exposure multiplier used by the RR bridge. |
-| `frame_time_delta_ms` | `0.0` | Render-frame interval in milliseconds. Zero selects DexSim's automatic measurement; a positive value supplies a fixed interval. |
-
-`frame_time_delta_ms` is deliberately defaulted to `0.0`, matching DexSim's
-native `DLSSConfig` default. DexSim measures the elapsed time between rendered
-frames and uses it in the temporal path. This value describes render cadence,
-not the physics or control timestep, so it should normally remain `0.0`.
-Specify a positive value only when the application intentionally renders at a
-known fixed cadence.
-
-EmbodiChain currently mirrors the core DLSS controls only. DexSim's advanced
-multi-camera tiled controls are intentionally not duplicated in
-`DLSSCfg`; their native defaults remain in effect while the engine manages
-camera-group rendering.
+`DLSSCfg.tiled_enabled` controls whether compatible multi-camera targets use a
+single tiled atlas. Atlas gutter and dimension limits remain owned by DexSim
+and use its native defaults.
 
 ## Quality and resolution
 
@@ -67,31 +55,21 @@ preset.
 Configure DLSS quality in a headless simulation:
 
 ```python
-from embodichain.lab.sim import DLSSCfg, SimulationManagerCfg
-from embodichain.lab.sim.cfg import RenderCfg
+from embodichain.lab.sim import SimulationManagerCfg
+from embodichain.lab.sim.cfg import DenoisingCfg, DLSSCfg, RenderCfg
 
 sim_config = SimulationManagerCfg(
     headless=True,
     render_cfg=RenderCfg(
         renderer="hybrid",
+        denoising=DenoisingCfg(window="dlss", offscreen="dlss"),
         dlss=DLSSCfg(
-            dlss_enabled=True,
             dlss_quality=3,
         ),
     ),
 )
 ```
 
-Use a fixed 60 FPS render interval only when the rendering cadence is known
-and intentionally fixed:
-
-```python
-render_cfg = RenderCfg(
-    renderer="hybrid",
-    dlss=DLSSCfg(frame_time_delta_ms=16.667),
-)
-```
-
 Configure an OfflineRT window with an explicit internal resolution:
 
 ```python
@@ -105,10 +83,10 @@ sim_config = SimulationManagerCfg(
 )
 ```
 
-The same settings are available in task JSON/YAML under
-`render_cfg.dlss` (decoded into `env_cfg.sim_cfg.render_cfg.dlss`). Set
-`dlss_enabled: false` explicitly when a task must use the standard renderer
-path.
+The same settings are available in task JSON/YAML under `render_cfg.denoising`
+and `render_cfg.dlss` (decoded into the corresponding nested config objects).
+Use `denoising.window: off` or `denoising.offscreen: off` to select the raw
+ray-traced path for a scope.
 
 ## Availability and fallback
 

diff --git a/embodichain/lab/gym/utils/gym_utils.py b/embodichain/lab/gym/utils/gym_utils.py
@@ -464,12 +464,14 @@ def config_to_cfg(
     """
 
     from embodichain.lab.sim.cfg import (
+        DenoisingCfg,
         RobotCfg,
         RigidObjectCfg,
         RigidObjectGroupCfg,
         ArticulationCfg,
         LightCfg,
         DLSSCfg,
+        NRDCfg,
         RenderCfg,
         physics_cfg_for_backend,
     )
@@ -655,8 +657,12 @@ class ComponentCfg:
     env_cfg.enable_sensor = config.get("enable_sensor", True)
 
     render_config = deepcopy(config.get("render_cfg", {}))
+    if isinstance(render_config.get("denoising"), dict):
+        render_config["denoising"] = DenoisingCfg(**render_config["denoising"])
     if isinstance(render_config.get("dlss"), dict):
         render_config["dlss"] = DLSSCfg(**render_config["dlss"])
+    if isinstance(render_config.get("nrd"), dict):
+        render_config["nrd"] = NRDCfg(**render_config["nrd"])
     if "renderer" in config:
         # Keep the existing flat renderer option as the command-line override.
         render_config["renderer"] = config["renderer"]

diff --git a/embodichain/lab/sim/__init__.py b/embodichain/lab/sim/__init__.py
@@ -27,7 +27,7 @@
     VisualMaterialInst,
     ReuseSegmentState,
 )
-from .cfg import DLSSCfg
+from .cfg import DenoisingCfg, DenoisingMode, DLSSCfg, NRDCfg
 from .common import BatchEntity
 from .profiler import Profiler, ProfilerCfg
 
@@ -43,7 +43,10 @@
     "ProfilerCfg",
     "SimulationManager",
     "SimulationManagerCfg",
+    "DenoisingCfg",
+    "DenoisingMode",
     "DLSSCfg",
+    "NRDCfg",
     "SIM_CACHE_DIR",
     "MATERIAL_CACHE_DIR",
     "CONVEX_DECOMP_DIR",