mlsanityData to 7 Oct 2026

Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

arXiv 2108.10470 ↗First posted 24 Aug 2021cs.RO cs.LGcited by 882

Not on the map. Why?

Cited by 50 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Isaac Gym offers a high performance learning platform to train policies for wide variety of robotics tasks directly on GPU. Both physics simulation and the neural network policy training reside on GPU and communicate by directly passing data from physics buffers to PyTorch tensors without ever going through any CPU bottlenecks. This leads to blazing fast training times for complex robotics tasks on a single GPU with 2-3 orders of magnitude improvements compared to conventional RL training that uses a CPU based simulator and GPU for neural networks. We host the results and videos at urlhttps://sites.google.com/view/isaacgym-nvidia and isaac gym can be downloaded at urlhttps://developer.nvidia.com/isaac-gym.

Key facts. Cited by 882 papers in the map (data through 7 Oct 2026). Builds on 17 of its 42 references that are in the map. First posted on arXiv 24 Aug 2021.

Builds on

17 of 42 references.

References · 17

  1. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,160
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  4. 2019Dota 2 with Large Scale Deep Reinforcement Learningcited by 1,084
  5. 2019Solving Rubik's Cube with a Robot Handcited by 699
  6. 2018Learning Dexterous In-Hand Manipulationcited by 643
  7. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 484
  8. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  9. 2021Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulationcited by 375
  10. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 229
  11. 2017Asymmetric Actor Critic for Image-Based Robot Learningcited by 202
  12. 2020CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learningcited by 109
5 more
  1. 2018GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learningcited by 77
  2. 2019Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Taskscited by 56
  3. 2021Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFingercited by 34
  4. 2020TriFinger: An Open-Source Robot for Learning Dexteritycited by 31
  5. 2021Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulationcited by 14

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 12; 2022: 76; 2023: 143; 2024: 190; 2025: 261; 2026: 200.

882 papers.

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  1. 2023Eureka: Human-Level Reward Design via Coding Large Language Modelscited by 542
  2. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  3. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 395
  4. 2022DayDreamer: World Models for Physical Robot Learningcited by 372
  5. 2022PhysDiff: Physics-Guided Human Motion Diffusion Modelcited by 365
  6. 2023Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Taskscited by 320
  7. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  8. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
  9. 2024Diffusion Policy Policy Optimizationcited by 255
  10. 2022Masked Visual Pre-training for Motor Controlcited by 246
  11. 2022Real-World Robot Learning with Masked Visual Pre-trainingcited by 241
  12. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 239
38 more
  1. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  2. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 216
  3. 2023Perpetual Humanoid Control for Real-time Simulated Avatarscited by 198
  4. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  5. 2022A Review of Safe Reinforcement Learning: Methods, Theory and Applicationscited by 169
  6. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 166
  7. 2022Human-to-Robot Imitation in the Wildcited by 157
  8. 2021A System for General In-Hand Object Re-Orientationcited by 155
  9. 2023Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusioncited by 137
  10. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 136
  11. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 136
  12. 2023Safety-Gymnasium: A Unified Safe Reinforcement Learning Benchmarkcited by 135
  13. 2023Real-World Humanoid Locomotion with Reinforcement Learningcited by 132
  14. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  15. 2022Rapid Locomotion via Reinforcement Learningcited by 130
  16. 2025Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulationcited by 129
  17. 2024THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulationcited by 128
  18. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 125
  19. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  20. 2024Expressive Whole-Body Control for Humanoid Robotscited by 117
  21. 2023Robot Parkour Learningcited by 115
  22. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 115
  23. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  24. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 113
  25. 2023Universal Humanoid Motion Representations for Physics-Based Controlcited by 109
  26. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 104
  27. 2024CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character controlcited by 103
  28. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 102
  29. 2023Synthesizing Physical Character-Scene Interactionscited by 102
  30. 2022VideoDex: Learning Dexterity from Internet Videoscited by 101
  31. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 101
  32. 2024MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpaintingcited by 101
  33. 2022Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotioncited by 98
  34. 2022Accelerated Policy Learning with Parallel Differentiable Simulationcited by 92
  35. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 92
  36. 2023CALM: Conditional Adversarial Latent Models for Directable Virtual Characterscited by 91
  37. 2023Unified Human-Scene Interaction via Prompted Chain-of-Contactscited by 91
  38. 2024Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Modelcited by 90

50 most cited of 882 All 882 (JSON)