Tools IsaacGym

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Isaac Gym - Nvidia

• Gym => Gymnasium @2022.10 => Omniverse Isaac Gym /Isaac Sim？
• IsaacGym - NVIDIA’s physics simulation environment for reinforcement learning research
  • end-to-end GPU accelerated RL for physically based systems
  • basic PPO implementation +
• Isaac Gym Benchmark Environments :
• 优点 : 加速整个训练过程
  • 避免了传统的交互环境中存在的CPU仿真环境模拟到GPU网络训练的转换
  • 由于使用GPU对物理环境进行仿真，Isaac Gym环境还可以同时并行运算数以千计的仿真环境，快速为当前的policy提供大量训练样本，从而从另一个方面，改善online-policy的算法在学习过程中出现的，样本收集慢，采样效率低下的问题
• API - C++/Python
• Tensor-based APIs

saac Gym，它早期是一个独立的实验性程序，后来在Isaac Sim最新发布的版本中合并进入Isaac Sim成为一个插件......
The Omniverse Isaac Gym extension provides an interface for performing reinforcement learning training and inferencing in Isaac Sim

CPU & GPU	Only GPU

Arch

• PhysX
  • CPU and GPU simulation
• Flex
  • Only GPU simulation

Reference

• gym - OpenAI
• Gymnasium - Farama Foundation
• Isaac Gym [docs - Preview Release 4]
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
• S32037+GavrielState+Isaac Gym End-to-End GPU-Accelerated Reinforcement Learning_1617675173601001BlEt.pdf
• Omniverse Isaac Gym