mlsanityData to 7 Oct 2026

PyRep: Bringing V-REP to Deep Robot Learning

arXiv 1906.11176 ↗First posted 26 Jun 2019cs.RO cs.CV cs.LGcited by 43

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Abstract (arXiv)

PyRep is a toolkit for robot learning research, built on top of the virtual robotics experimentation platform (V-REP). Through a series of modifications and additions, we have created a tailored version of V-REP built with robot learning in mind. The new PyRep toolkit offers three improvements: (1) a simple and flexible API for robot control and scene manipulation, (2) a new rendering engine, and (3) speed boosts upwards of 10,000x in comparison to the previous Python Remote API. With these improvements, we believe PyRep is the ideal toolkit to facilitate rapid prototyping of learning algorithms in the areas of reinforcement learning, imitation learning, state estimation, mapping, and computer vision.

Key facts. Cited by 43 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Jun 2019.

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Citing papers per year: 2020: 2; 2021: 16; 2022: 5; 2023: 3; 2024: 10; 2025: 4; 2026: 3.

43 papers.

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  1. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  2. 2020Language-Conditioned Imitation Learning for Robot Manipulation Taskscited by 136
  3. 2024THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulationcited by 128
  4. 2021Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulationcited by 85
  5. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  6. 2022VLMbench: A Compositional Benchmark for Vision-and-Language Manipulationcited by 68
  7. 2024Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3Dcited by 32
  8. 2021The Logical Options Frameworkcited by 24
  9. 2021Bayesian Controller Fusion: Leveraging Control Priors in Deep Reinforcement Learning for Roboticscited by 18
  10. 2024Generative Image as Action Modelscited by 18
  11. 2024Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulationcited by 15
  12. 2024Continuous Control with Coarse-to-fine Reinforcement Learningcited by 15
31 more
  1. 2022When to Update Your Model: Constrained Model-based Reinforcement Learningcited by 14
  2. 2024Easier Said Than Done: Unpacking Intent-Behavior Gap in Jailbreaking LLM-Based Robotscited by 14
  3. 2025GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulationcited by 14
  4. 2024NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulationcited by 10
  5. 2024Coarse-to-fine Q-Network with Action Sequence for Data-Efficient Reinforcement Learningcited by 10
  6. 2021Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide Task Spacescited by 9
  7. 2022Where To Start? Transferring Simple Skills to Complex Environmentscited by 9
  8. 2023Language-Conditioned Path Planningcited by 9
  9. 2021Ivy: Templated Deep Learning for Inter-Framework Portabilitycited by 6
  10. 2021Object and Relation Centric Representations for Push Effect Predictioncited by 5
  11. 2024Redundancy-aware Action Spaces for Robot Learningcited by 5
  12. 2021SIMstack: A Generative Shape and Instance Model for Unordered Object Stackscited by 4
  13. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  14. 2021End-to-End Egospheric Spatial Memorycited by 3
  15. 2021A Graph Neural Network to Model Disruption in Human-Aware Robot Navigationcited by 3
  16. 2023Data-Driven Stochastic Motion Evaluation and Optimization with Image by Spatially-Aligned Temporal Encodingcited by 3
  17. 2026Colosseum V2: Benchmarking Generalization for Vision-Language-Action Modelscited by 3
  18. 2021Low-Dimensional State and Action Representation Learning with MDP Homomorphism Metricscited by 2
  19. 2021Stage Conscious Attention Network (SCAN) : A Demonstration-Conditioned Policy for Few-Shot Imitationcited by 2
  20. 2025IRIS: An Immersive Robot Interaction Systemcited by 2
  21. 2025Generalizable Hierarchical Skill Learning via Object-Centric Representationcited by 2
  22. 2021Self-Calibrating Active Binocular Vision via Active Efficient Coding with Deep Autoencoderscited by 1
  23. 2021Towards Autonomous Pipeline Inspection with Hierarchical Reinforcement Learningcited by 1
  24. 2021Zero-Shot Uncertainty-Aware Deployment of Simulation Trained Policies on Real-World Robotscited by 1
  25. 2022Parallel Reinforcement Learning Simulation for Visual Quadrotor Navigationcited by 1
  26. 2023Reinforcement Learning for Picking Cluttered General Objects with Dense Object Descriptorscited by 1
  27. 2020ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharingcited by 0
  28. 2021Towards a Sample Efficient Reinforcement Learning Pipeline for Vision Based Roboticscited by 0
  29. 2021Monolithic vs. hybrid controller for multi-objective Sim-to-Real learningcited by 0
  30. 2024Interpretable Robotic Manipulation from Languagecited by 0
  31. 20262D or 3D: Who Governs Salience in VLA Models? -- Tri-Stage Token Pruning Framework with Modality Salience Awarenesscited by 0

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  1. 2024MENTOR: Mixture-of-Experts Network with Task-Oriented Perturbation for Visual Reinforcement Learning
  2. 2024Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
  3. 2020myGym: Modular Toolkit for Visuomotor Robotic Tasks
  4. 2023BridgeData V2: A Dataset for Robot Learning at Scale
  5. 2025An Introduction to Deep Reinforcement and Imitation Learning
  6. 2025Ark: An Open-source Python-based Framework for Robot Learning
  7. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
  8. 2026ActionMap: Robot Policy Learning via Voxel Action Heatmap