mlsanityData to 7 Oct 2026

OpenAI Gym

arXiv 1606.01540 ↗First posted 5 Jun 2016cs.LG cs.AIcited by 1,684

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Cited by 207 in Offline RL and imitation learning from data, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

OpenAI Gym is a toolkit for reinforcement learning research. It includes a growing collection of benchmark problems that expose a common interface, and a website where people can share their results and compare the performance of algorithms. This whitepaper discusses the components of OpenAI Gym and the design decisions that went into the software.

Key facts. Cited by 1,684 papers in the map (data through 7 Oct 2026). First posted on arXiv 5 Jun 2016.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2018: 8; 2019: 21; 2020: 27; 2021: 383; 2022: 380; 2023: 332; 2024: 235; 2025: 197; 2026: 101.

1,684 papers.

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  1. 2023WebArena: A Realistic Web Environment for Building Autonomous Agentscited by 1,908
  2. 2020D4RL: Datasets for Deep Data-Driven Reinforcement Learningcited by 1,406
  3. 2022WebShop: Towards Scalable Real-World Web Interaction with Grounded Language Agentscited by 1,197
  4. 2021A Minimalist Approach to Offline Reinforcement Learningcited by 882
  5. 2021Generalizing to Unseen Domains: A Survey on Domain Generalizationcited by 762
  6. 2020MOReL : Model-Based Offline Reinforcement Learningcited by 582
  7. 2018Behavioral Cloning from Observationcited by 482
  8. 2025Group-in-Group Policy Optimization for LLM Agent Trainingcited by 442
  9. 2022The Effects of Reward Misspecification: Mapping and Mitigating Misaligned Modelscited by 312
  10. 2023UniSim: A Neural Closed-Loop Sensor Simulatorcited by 294
  11. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  12. 2019Extrapolating Beyond Suboptimal Demonstrations via Inverse Reinforcement Learning from Observationscited by 256
38 more
  1. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  2. 2025Imagine while Reasoning in Space: Multimodal Visualization-of-Thoughtcited by 204
  3. 2021How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learnedcited by 201
  4. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  5. 2025Survey on Evaluation of LLM-based Agentscited by 190
  6. 2019A Divergence Minimization Perspective on Imitation Learning Methodscited by 188
  7. 2021Character Controllers Using Motion VAEscited by 182
  8. 2021Multi-Task Reinforcement Learning with Context-based Representationscited by 169
  9. 2022Evolving Curricula with Regret-Based Environment Designcited by 166
  10. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  11. 2024Behavior Generation with Latent Actionscited by 159
  12. 2021Embodied Intelligence via Learning and Evolutioncited by 154
  13. 2024RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedbackcited by 147
  14. 2022Goal-Conditioned Reinforcement Learning: Problems and Solutionscited by 145
  15. 2024A Minimaximalist Approach to Reinforcement Learning from Human Feedbackcited by 141
  16. 2018Self-Imitation Learningcited by 135
  17. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  18. 2023Theory of Mind for Multi-Agent Collaboration via Large Language Modelscited by 129
  19. 2020Primal Wasserstein Imitation Learningcited by 120
  20. 2024SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learningcited by 113
  21. 2021HPOBench: A Collection of Reproducible Multi-Fidelity Benchmark Problems for HPOcited by 111
  22. 2019Benchmarking Batch Deep Reinforcement Learning Algorithmscited by 108
  23. 2021Replay-Guided Adversarial Environment Designcited by 108
  24. 2025Agentic Large Language Models, a surveycited by 105
  25. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 101
  26. 2019Help, Anna! Visual Navigation with Natural Multimodal Assistance via Retrospective Curiosity-Encouraging Imitation Learningcited by 100
  27. 2023Synthetic Experience Replaycited by 100
  28. 2021Scalable Evaluation of Multi-Agent Reinforcement Learning with Melting Potcited by 97
  29. 2018EnsembleDAgger: A Bayesian Approach to Safe Imitation Learningcited by 96
  30. 2022Design-Bench: Benchmarks for Data-Driven Offline Model-Based Optimizationcited by 96
  31. 2022Robust Reinforcement Learning using Offline Datacited by 95
  32. 2022Instruction-driven history-aware policies for robotic manipulationscited by 93
  33. 2022Accelerated Policy Learning with Parallel Differentiable Simulationcited by 92
  34. 2021Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulationcited by 85
  35. 2025Visual Planning: Let's Think Only with Imagescited by 85
  36. 2025Holistic Agent Leaderboard: The Missing Infrastructure for AI Agent Evaluationcited by 83
  37. 2021Sample Complexity of Robust Reinforcement Learning with a Generative Modelcited by 82
  38. 2025BFS-Prover: Scalable Best-First Tree Search for LLM-based Automatic Theorem Provingcited by 82

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