# ORRB -- OpenAI Remote Rendering Backend

arXiv: https://arxiv.org/abs/1906.11633 · HTML: https://mlsanity.com/paper/1906.11633/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Jun 2019.

## Built on by (most cited first, 2 of 2)

- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Symmetria: A Synthetic Dataset for Learning in Point Clouds](https://mlsanity.com/paper/2510.23414/) (2025)

## Abstract (arXiv)

We present the OpenAI Remote Rendering Backend (ORRB), a system that allows fast and customizable rendering of robotics environments. It is based on the Unity3d game engine and interfaces with the MuJoCo physics simulation library. ORRB was designed with visual domain randomization in mind. It is optimized for cloud deployment and high throughput operation. We are releasing it to the public under a liberal MIT license: https://github.com/openai/orrb .