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In this work, we present and study a training set-up that achieves fast policy generation for real-world robotic tasks by using massive parallelism on a single workstation GPU.
Where is the data? why you cannot debate cpu vs. gpu performance without the answer
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J. Schulman, P. Moritz, S. Levine, M. Jordan, and P. Abbeel · 2016
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Openai gym, 2016
G. Brockman, V. Cheung, L. Pettersson, J. Schneider, J. Schulman, J. Tang, and W. Zaremba · 2016
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Deep reinforcement learning for robotic manipulation with asynchronous off-policy updates
S. Gu, E. Holly, T. Lillicrap, and S. Levine · 2017
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Emergence of locomotion behaviours in rich environments
N. Heess, D. TB, S. Sriram, J. Lemmon, J. Merel, G. Wayne, Y. Tassa, T. Erez, Z. Wang, S. M. A. Eslami, M. A. Riedmiller, and D. Silver · 2017
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J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Time limits in reinforcement learning
F. Pardo, A. Tavakoli, V. Levdik, and P. Kormushev · 2017
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G. Kahn, A. Villaflor, B. Ding, P. Abbeel, and S. Levine · 2018
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J. Liang, V. Makoviychuk, A. Handa, N. Chentanez, M. Macklin, and D. Fox · 2018
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Stable baselines
A. Hill, A. Raffin, M. Ernestus, A. Gleave, A. Kanervisto, R. Traore, P. Dhariwal, C. Hesse, O. Klimov, A. Nichol, M. Plappert, A. Radford, J. Schulman, S. Sidor, and Y. Wu · 2018
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C. Florensa, D. Held, X. Geng, and P. Abbeel · 2018
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J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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V. Tsounis, M. Alge, J. Lee, F. Farshidian, and M. Hutter · 2020
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Allsteps: Curriculum-driven learning of stepping stone skills
Z. Xie, H. Y. Ling, N. H. Kim, and M. van de Panne · 2020
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2021
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Isaac gym: High performance GPU based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State · 2021
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Large batch simulation for deep reinforcement learning
B. Shacklett, E. Wijmans, A. Petrenko, M. Savva, D. Batra, V. Koltun, and K. Fatahalian · 2021
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Brax - a differentiable physics engine for large scale rigid body simulation
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