I’ve spent months digging into why dexterous manipulation (like the 'Humanoid Hand' problem Musk mentions) is still so far from reality. The culprit isn't the hardware—it's the 'Discrete Tax.'

Current solvers burn thousands of GPU cycles just to prevent numerical 'explosions' during contact. It's a brute-force patch for a math problem that should be solved with algebraic continuity. We've pushed a framework that runs at ~100W with higher stability than a 5000W H200 cluster.

I’ve officially challenged the PhysX core team on their forums to address this systemic waste.