mlsanityData to 14 Oct 2026

panda-gym: Open-source goal-conditioned environments for robotic learning

arXiv 2106.13687 ↗First posted 25 Jun 2021cs.LGcited by 59

Not on the map. Why?

Cited by 27 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

This paper presents panda-gym, a set of Reinforcement Learning (RL) environments for the Franka Emika Panda robot integrated with OpenAI Gym. Five tasks are included: reach, push, slide, pick & place and stack. They all follow a Multi-Goal RL framework, allowing to use goal-oriented RL algorithms. To foster open-research, we chose to use the open-source physics engine PyBullet. The implementation chosen for this package allows to define very easily new tasks or new robots. This paper also presents a baseline of results obtained with state-of-the-art model-free off-policy algorithms. panda-gym is open-source and freely available at https://github.com/qgallouedec/panda-gym.

Key facts. Cited by 59 papers in the map (data through 14 Oct 2026). Builds on 7 of its 13 references that are in the map. First posted on arXiv 25 Jun 2021.

Builds on

7 of 13 references.

References · 7

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,885
  3. 2015Continuous control with deep reinforcement learningcited by 3,407
  4. 2018Addressing Function Approximation Error in Actor-Critic Methodscited by 2,417
  5. 2017Hindsight Experience Replaycited by 1,136
  6. 2018Multi-Goal Reinforcement Learning: Challenging Robotics Environments and Request for Researchcited by 260
  7. 2018Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Taskscited by 154

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 5; 2023: 8; 2024: 19; 2025: 20; 2026: 7.

59 papers.

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  1. 2024Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradientcited by 51
  2. 2024Code as Reward: Empowering Reinforcement Learning with VLMscited by 39
  3. 2025Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learningcited by 36
  4. 2023Seizing Serendipity: Exploiting the Value of Past Success in Off-Policy Actor-Criticcited by 20
  5. 2022Temporal Disentanglement of Representations for Improved Generalisation in Reinforcement Learningcited by 19
  6. 2024Open RL Benchmark: Comprehensive Tracked Experiments for Reinforcement Learningcited by 17
  7. 2024ACE : Off-Policy Actor-Critic with Causality-Aware Entropy Regularizationcited by 16
  8. 2024A Survey of Imitation Learning Methods, Environments and Metricscited by 16
  9. 2024RLingua: Improving Reinforcement Learning Sample Efficiency in Robotic Manipulations With Large Language Modelscited by 12
  10. 2023ContraBAR: Contrastive Bayes-Adaptive Deep RLcited by 9
  11. 2024Multi-view Disentanglement for Reinforcement Learning with Multiple Camerascited by 8
  12. 2026Agentic Environment Engineering for Large Language Models: A Survey of Environment Modeling, Synthesis, Evaluation, and Applicationcited by 8
38 more
  1. 2023Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Frameworkcited by 7
  2. 2023Understanding when Dynamics-Invariant Data Augmentations Benefit Model-Free Reinforcement Learning Updatescited by 7
  3. 2024SPRINQL: Sub-optimal Demonstrations driven Offline Imitation Learningcited by 7
  4. 2022Cell-Free Latent Go-Explorecited by 5
  5. 2024Offline Goal-Conditioned Reinforcement Learning for Safety-Critical Tasks with Recovery Policycited by 5
  6. 2024OMPO: A Unified Framework for RL under Policy and Dynamics Shiftscited by 5
  7. 2024Precision-Focused Reinforcement Learning Model for Robotic Object Pushingcited by 5
  8. 2025Mutual Information Tracks Policy Coherence in Reinforcement Learningcited by 4
  9. 2022Grounding Hindsight Instructions in Multi-Goal Reinforcement Learning for Roboticscited by 3
  10. 2023Programmatic Imitation Learning from Unlabeled and Noisy Demonstrationscited by 3
  11. 2024Logical Specifications-guided Dynamic Task Sampling for Reinforcement Learning Agentscited by 3
  12. 2024Stealthy Imitation: Reward-guided Environment-free Policy Stealingcited by 3
  13. 2024Unsupervised Skill Discovery for Robotic Manipulation through Automatic Task Generationcited by 3
  14. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challengescited by 3
  15. 2025Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learningcited by 3
  16. 2026GRAIL: Goal Recognition Alignment through Imitation Learningcited by 3
  17. 2023Automaton-Guided Curriculum Generation for Reinforcement Learning Agentscited by 2
  18. 2024Optimizing Deep Reinforcement Learning for Adaptive Robotic Arm Controlcited by 2
  19. 2024Goal-Conditioned Decision Transformer for Multi-Goal Offline Reinforcement Learningcited by 2
  20. 2025TW-CRL: Time-Weighted Contrastive Reward Learning for Efficient Inverse Reinforcement Learningcited by 2
  21. 2025Improvements of Dark Experience Replay and Reservoir Sampling towards Better Balance between Consolidation and Plasticitycited by 2
  22. 2026A Review of Online Diffusion Policy RL Algorithms for Scalable Robotic Controlcited by 2
  23. 2026MARVL: Multi-Stage Guidance for Robotic Manipulation via Vision-Language Modelscited by 2
  24. 2022Karolos: An Open-Source Reinforcement Learning Framework for Robot-Task Environmentscited by 1
  25. 2023Signal Temporal Logic-Guided Apprenticeship Learningcited by 1
  26. 2024Skill-aware Mutual Information Optimisation for Generalisation in Reinforcement Learningcited by 1
  27. 2024Learning Noise-Robust Stable Koopman Operator for Control with Hankel DMDcited by 1
  28. 2025Effective Reinforcement Learning Control using Conservative Soft Actor-Criticcited by 1
  29. 2025General Dynamic Goal Recognition using Goal-Conditioned and Meta Reinforcement Learningcited by 1
  30. 2026SpecRLBench: A Benchmark for Generalization in Specification-Guided Reinforcement Learningcited by 1
  31. 2022Non-Parametric Stochastic Policy Gradient with Strategic Retreat for Non-Stationary Environmentcited by 0
  32. 2023Tracking Object Positions in Reinforcement Learning: A Metric for Keypoint Detection (extended version)cited by 0
  33. 2024RoboArm-NMP: a Learning Environment for Neural Motion Planningcited by 0
  34. 2025RISE: Robust Imitation through Stochastic Encodingcited by 0
  35. 2025Robot Policy Transfer with Online Demonstrations: An Active Reinforcement Learning Approachcited by 0
  36. 2025Next-Future: Sample-Efficient Policy Learning for Robotic-Arm Taskscited by 0
  37. 2025GRAML: Goal Recognition As Metric Learningcited by 0
  38. 2025CiRL: Open-Source Environments for Reinforcement Learning in Circular Economy and Net Zerocited by 0

50 most cited of 59 All 59 (JSON)