diff --git a/genesis/__init__.py b/genesis/__init__.py
index 37a81f1e..6b21d0de 100644
--- a/genesis/__init__.py
+++ b/genesis/__init__.py
@@ -23,7 +23,7 @@ def fake_print(*args, **kwargs):
 from .constants import backend as gs_backend
 from .logging import Logger
 from .version import __version__
-from .utils import set_random_seed, get_platform, get_cpu_device, get_gpu_device
+from .utils import set_random_seed, get_platform, get_device
 
 _initialized = False
 backend = None
@@ -43,7 +43,6 @@ def init(
     theme="dark",
     logger_verbose_time=False,
 ):
-
     # genesis._initialized
     global _initialized
     if _initialized:
@@ -72,19 +71,16 @@ def init(
 
         first_init = False
 
-    # get default device and compute total device memory
+    # genesis.backend
     global platform
-    global device
     platform = get_platform()
-    if backend == gs_backend.cpu:
-        device, device_name, total_mem = get_cpu_device()
-    else:
-        device, device_name, total_mem = get_gpu_device()
-
-    # genesis.backend
     if backend not in GS_ARCH[platform]:
         raise_exception(f"backend ~~<{backend}>~~ not supported for platform ~~<{platform}>~~")
-    backend = GS_ARCH[platform][backend]
+
+    # get default device and compute total device memory
+    global device
+    device, device_name, total_mem, backend = get_device(backend)
+
     _globalize_backend(backend)
 
     logger.info(
diff --git a/genesis/utils/misc.py b/genesis/utils/misc.py
index 7ec3843f..1c0082f3 100644
--- a/genesis/utils/misc.py
+++ b/genesis/utils/misc.py
@@ -11,6 +11,7 @@
 import torch
 
 import genesis as gs
+from genesis.constants import backend as gs_backend
 
 
 def raise_exception(msg="Something went wrong."):
@@ -96,32 +97,47 @@ def get_cpu_name():
         return platform.processor()
 
 
-def get_cpu_device():
-    device_name = get_cpu_name()
-    total_mem = psutil.virtual_memory().total / 1024**3
-    device = torch.device("cpu")
-    return device, device_name, total_mem
+def get_device(backend: gs_backend):
+    if backend == gs_backend.cuda:
+        if not torch.cuda.is_available():
+            gs.raise_exception("cuda device not available")
 
+        device = torch.device("cuda")
+        device_property = torch.cuda.get_device_properties(0)
+        device_name = device_property.name
+        total_mem = device_property.total_memory / 1024**3
 
-def get_gpu_device():
-    if get_platform() == "macOS":
+    elif backend == gs_backend.metal:
         if not torch.backends.mps.is_available():
             gs.raise_exception("metal device not available")
 
         # on mac, cpu and gpu are in the same device
-        _, device_name, total_mem = get_cpu_device()
+        _, device_name, total_mem, _ = get_device(gs_backend.cpu)
         device = torch.device("mps")
 
-    else:
-        if not torch.cuda.is_available():
-            gs.raise_exception("cuda device not available")
+    elif backend == gs_backend.vulkan:
+        if torch.xpu.is_available():  # pytorch 2.5+ Intel XPU device
+            device = torch.device("xpu")
+            device_property = torch.xpu.get_device_properties(0)
+            device_name = device_property.name
+            total_mem = device_property.total_memory / 1024**3
+        else:  # pytorch tensors on cpu
+            device, device_name, total_mem, _ = get_device(gs_backend.cpu)
+
+    elif backend == gs_backend.gpu:
+        if torch.cuda.is_available():
+            return get_device(gs_backend.cuda)
+        elif get_platform() == "macOS":
+            return get_device(gs_backend.metal)
+        else:
+            return get_device(gs_backend.vulkan)
 
-        device = torch.device("cuda")
-        device_property = torch.cuda.get_device_properties(0)
-        device_name = device_property.name
-        total_mem = device_property.total_memory / 1024**3
+    else:
+        device_name = get_cpu_name()
+        total_mem = psutil.virtual_memory().total / 1024**3
+        device = torch.device("cpu")
 
-    return device, device_name, total_mem
+    return device, device_name, total_mem, backend
 
 
 def get_src_dir():