Isaaac Gym: 机器人学习的高性能 GPU基物理模拟 (Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning)

Viktor Makoviychuk,Lukasz Wawrzyniak,Yunrong Guo,Michelle Lu,Kier Storey,Miles Macklin,David Hoeller,Nikita Rudin,Arthur Allshire,Ankur Handa,Gavriel State

from arxiv, tech report on isaac-gym

Isaac Gym offers a high performance learning platform to train policies for wide variety of robotics tasks directly on GPU. Both physics simulation and the neural network policy training reside on GPU and communicate by directly passing data from physics buffers to PyTorch tensors without ever going through any CPU bottlenecks. This leads to blazing fast training times for complex robotics tasks on a single GPU with 2-3 orders of magnitude improvements compared to conventional RL training that uses a CPU based simulator and GPU for neural networks. We host the results and videos at \url{https://sites.google.com/view/isaacgym-nvidia} and isaac gym can be downloaded at \url{https://developer.nvidia.com/isaac-gym}.

翻译：Isaac Gym 提供了一个高性能学习平台,直接在GPU上培训各种机器人任务的政策。物理模拟和神经网络政策培训都设在GPU上,通过直接将物理缓冲数据从物理缓冲数据传送给PyTorrch Exarors,而不经过任何CPU瓶颈,进行交流。这导致对单一的GPU的复杂机器人任务快速培训时间加快,与常规RL培训相比,该培训使用基于CPU的模拟器和神经网络的GPU。我们在\url{https://sites.google.com/view/isaaacgym-nvidia}和Isaaac健身房,可在\ur{https://developmenter.nvidia.com/isaaac-gym}下载。