Extremely Low Frame Rate on Isaac Sim with 4×L40S GPUs (Low GPU Speed)

Omniverse Isaac Sim
1

Hi everyone,

I’m encountering a performance issue when running Isaac Sim 5.0 on a workstation with 4× NVIDIA L40S GPUs.
Even in relatively simple scenes, the frame rate stays around 10–20 FPS, which seems far below expectations for this setup.

System Information

  • GPUs: 4× NVIDIA L40S
  • Driver version: 580.65.06
  • Operating system: Ubuntu 22.04
  • Isaac Sim version: 5.0
  • Environment: Isaac Lab Conda environment
  • CUDA version: 12.8 in conda_env

Problem Description

Isaac Sim runs, but the performance is very low — typically 10–20 FPS — even when rendering small or default scenes.
The drivers and nvidia-smi output look normal, all four GPUs are correctly detected, GPUs are all healthy.

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What I’ve Checked

  • Verified all GPUs are recognized (nvidia-smi shows 4× L40S active).
  • Confirmed that the Isaac Lab Conda environment and Isaac Sim 5.0 installation are working.
  • Tried both RTX on and off modes — no significant difference.

Questions

  1. What kind of performance (FPS, GPU utilization, etc.) should be expected from the L40S when running Isaac Sim 5.0?
  2. Are there any practical ways or configuration tweaks to improve the frame rate and fully utilize the GPUs?

Thanks in advance,
Lihao

2

Thanks for sharing detailed system info and diagnostics. The performance you’re seeing (10–20 FPS on 4×L40S) is definitely much lower than expected for that hardware.

For reference, you can review the official Isaac Sim benchmarks for L40 and similar GPUs here:

Please try running one of the official Isaac Sim benchmark scenes and compare the results directly against the published numbers.

3

Hello!

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The NVIDIA Isaac Sim Forum Team