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 1-2 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 download 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 Exrons,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,其规模改进为1-2级,而传统的RL培训则使用基于CPU的模拟器和神经网络的GPU。我们在\url{https://sites.google.com/view/isaaacgym-nvidia}和Isaac健身房将结果和视频下载到\url{https://Developinger.nvidia.com/isaaac-gym}。