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Extending the OpenAI Gym for robotics: a toolkit for reinforcement learning using ROS and Gazebo

arXiv 1608.05742 ↗First posted 19 Aug 2016cs.ROcited by 18

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Abstract (arXiv)

This paper presents an extension of the OpenAI Gym for robotics using the Robot Operating System (ROS) and the Gazebo simulator. The content discusses the software architecture proposed and the results obtained by using two Reinforcement Learning techniques: Q-Learning and Sarsa. Ultimately, the output of this work presents a benchmarking system for robotics that allows different techniques and algorithms to be compared using the same virtual conditions.

Key facts. Cited by 18 papers in the map (data through 7 Oct 2026). First posted on arXiv 19 Aug 2016.

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Citing papers per year: 2021: 8; 2022: 0; 2023: 2; 2024: 3; 2025: 1; 2026: 4.

18 papers.

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  1. 2024Shield Synthesis for LTL Modulo Theoriescited by 12
  2. 2024Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networkscited by 12
  3. 2023Vision-based Learning for Drones: A Surveycited by 9
  4. 2021Reinforcement Learning-Based Coverage Path Planning with Implicit Cellular Decompositioncited by 6
  5. 2021Vision-Based Mobile Robotics Obstacle Avoidance With Deep Reinforcement Learningcited by 4
  6. 2021MarsExplorer: Exploration of Unknown Terrains via Deep Reinforcement Learning and Procedurally Generated Environmentscited by 4
  7. 2021ASIST: Annotation-free Synthetic Instance Segmentation and Tracking by Adversarial Simulationscited by 3
  8. 2021ROS-X-Habitat: Bridging the ROS Ecosystem with Embodied AIcited by 2
  9. 2021Sim-Env: Decoupling OpenAI Gym Environments from Simulation Modelscited by 1
  10. 2021A Scalable and Reproducible System-on-Chip Simulation for Reinforcement Learningcited by 1
  11. 2026A ROS 2 Wrapper for Florence-2: Multi-Mode Local Vision-Language Inference for Robotic Systemscited by 1
  12. 2021Composable Learning with Sparse Kernel Representationscited by 0
6 more
  1. 2023Reinforcement Learning With Reward Machines in Stochastic Gamescited by 0
  2. 2024Autonomous Control of a Novel Closed Chain Five Bar Active Suspension via Deep Reinforcement Learningcited by 0
  3. 2025RouteFormer: A Transformer-Based Routing Framework for Autonomous Vehiclescited by 0
  4. 2026CALF: Communication-Aware Learning Framework for Distributed Reinforcement Learningcited by 0
  5. 2026Architecture for Multi-Unmanned Aerial Vehicles based Autonomous Precision Agriculture Systemscited by 0
  6. 2026ARMATA: Auto-Regressive Multi-Agent Task Assignmentcited by 0