A Nvidia research team presents Isaac Gym — a high-performance robotics simulation platform that runs an end-to-end GPU accelerated training pipeline. Compared to conventional RL training methods that use a CPU-based simulator and GPU for neural networks, Isaac Gym achieves training speedups of 2-3 orders of magnitude on continuous control tasks.

Here is a quick read: NVIDIA’s Isaac Gym: End-to-End GPU Accelerated Physics Simulation Expedites Robot Learning by 2-3 Orders of Magnitude.

The paper Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning is on arXiv.



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