Isaac Gym Preview

Isaac Gym Preview is a high-performance learning platform designed specifically for training robotic task policies directly on the GPU. This platform deploys both physics simulation and neural network policy training on the GPU, passing data directly from the physics buffer to PyTorch tensors, which avoids CPU bottlenecks and significantly accelerates the training of complex robotic tasks. Compared to traditional reinforcement learning methods that use CPU for simulation and GPU for neural networks, performance improvements can be up to two to three orders of magnitude.