mlsanityData to 7 Oct 2026

skrl: Modular and Flexible Library for Reinforcement Learning

arXiv 2202.03825 ↗First posted 8 Feb 2022cs.LG cs.AIcited by 35

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Abstract (arXiv)

skrl is an open-source modular library for reinforcement learning written in Python and designed with a focus on readability, simplicity, and transparency of algorithm implementations. In addition to supporting environments that use the traditional interfaces from OpenAI Gym and DeepMind, it provides the facility to load, configure, and operate NVIDIA Isaac Gym and NVIDIA Omniverse Isaac Gym environments. Furthermore, it enables the simultaneous training of several agents with customizable scopes (subsets of environments among all available ones), which may or may not share resources, in the same run. The library's documentation can be found at https://skrl.readthedocs.io and its source code is available on GitHub at https://github.com/Toni-SM/skrl.

Key facts. Cited by 35 papers in the map (data through 7 Oct 2026). Builds on 21 of its 42 references that are in the map. First posted on arXiv 8 Feb 2022.

Builds on

21 of 42 references.

References · 21

  1. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,160
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,635
  4. 2015Continuous control with deep reinforcement learningcited by 3,279
  5. 2013Playing Atari with Deep Reinforcement Learningcited by 3,211
  6. 2015Trust Region Policy Optimizationcited by 2,503
  7. 2018Addressing Function Approximation Error in Actor-Critic Methodscited by 2,302
  8. 2016Asynchronous Methods for Deep Reinforcement Learningcited by 2,218
  9. 2015Deep Reinforcement Learning with Double Q-learningcited by 1,704
  10. 2016OpenAI Gymcited by 1,684
  11. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  12. 2016TensorFlow: Large-Scale Machine Learning on Heterogeneous Distributed Systemscited by 660
9 more
  1. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 484
  2. 2020dm_control: Software and Tasks for Continuous Controlcited by 368
  3. 2019ChainerRL: A Deep Reinforcement Learning Librarycited by 51
  4. 2020MushroomRL: Simplifying Reinforcement Learning Researchcited by 50
  5. 2019rlpyt: A Research Code Base for Deep Reinforcement Learning in PyTorchcited by 38
  6. 2020Tonic: A Deep Reinforcement Learning Library for Fast Prototyping and Benchmarkingcited by 18
  7. 2021Comparing Popular Simulation Environments in the Scope of Robotics and Reinforcement Learningcited by 10
  8. 2021ElegantRL-Podracer: Scalable and Elastic Library for Cloud-Native Deep Reinforcement Learningcited by 9
  9. 2020Efficient Reinforcement Learning Development with RLzoocited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 5; 2025: 15; 2026: 12.

35 papers.

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  1. 2025RSL-RL: A Learning Library for Robotics Researchcited by 28
  2. 2024Maximum Entropy Reinforcement Learning via Energy-Based Normalizing Flowcited by 25
  3. 2023How to Learn and Generalize From Three Minutes of Data: Physics-Constrained and Uncertainty-Aware Neural Stochastic Differential Equationscited by 10
  4. 2023XuanCe: A Comprehensive and Unified Deep Reinforcement Learning Librarycited by 5
  5. 2024Recurrent Reinforcement Learning with Memoroidscited by 5
  6. 2025Enhancing Tactile-based Reinforcement Learning for Robotic Controlcited by 5
  7. 2026PolicyFlow: Policy Optimization with Continuous Normalizing Flow in Reinforcement Learningcited by 5
  8. 2023RLtools: A Fast, Portable Deep Reinforcement Learning Library for Continuous Controlcited by 4
  9. 2024Craftium: Bridging Flexibility and Efficiency for Rich 3D Single- and Multi-Agent Environmentscited by 4
  10. 2025AnyBody: A Benchmark Suite for Cross-Embodiment Manipulationcited by 4
  11. 2025Scalable Multi-Objective Robot Reinforcement Learning through Gradient Conflict Resolutioncited by 4
  12. 2025Space Robotics Bench: Robot Learning Beyond Earthcited by 3
23 more
  1. 2026Your Vision-Language-Action Model Already Has Attention Heads For Path Deviation Detectioncited by 3
  2. 2025Gym4ReaL: A Suite for Benchmarking Real-World Reinforcement Learningcited by 2
  3. 2025RoboRAN: A Unified Robotics Framework for Reinforcement Learning-Based Autonomous Navigationcited by 1
  4. 2025Decentralized Aerial Manipulation of a Cable-Suspended Load using Multi-Agent Reinforcement Learningcited by 1
  5. 2025Autonomous UAV Flight Navigation in Confined Spaces: A Reinforcement Learning Approachcited by 1
  6. 2025Solving Robotics Tasks with Prior Demonstration via Exploration-Efficient Deep Reinforcement Learningcited by 1
  7. 2026roto 2.0: The Robot Tactile Olympiadcited by 1
  8. 2026Direct Dynamic Retargeting for Humanoid Imitation Learning from Videoscited by 1
  9. 2024Using Petri Nets as an Integrated Constraint Mechanism for Reinforcement Learning Taskscited by 0
  10. 2024Disentangling Recognition and Decision Regrets in Image-Based Reinforcement Learningcited by 0
  11. 2025LineFlow: A Framework to Learn Active Control of Production Linescited by 0
  12. 2025Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulationcited by 0
  13. 2025CiRL: Open-Source Environments for Reinforcement Learning in Circular Economy and Net Zerocited by 0
  14. 2025ObjectRL: An Object-Oriented Reinforcement Learning Codebasecited by 0
  15. 2025Reinforcement Learning-Based Optimization of CT Acquisition and Reconstruction Parameters Through Virtual Imaging Trialscited by 0
  16. 2026Co-jump: Cooperative Jumping with Quadrupedal Robots via Multi-Agent Reinforcement Learningcited by 0
  17. 2026Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networkscited by 0
  18. 2026Bounded Ratio Reinforcement Learningcited by 0
  19. 2026DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibrationcited by 0
  20. 2026Let it Cook: Learning to Wait in Sequential Decision Makingcited by 0
  21. 2026Task-Based CT Protocol Optimization Using Reinforcement Learning and Virtual Imaging Trialscited by 0
  22. 2026Learning Multi-Agent Task Assignment and Navigation in the Factory: from Simulation to Real Robotscited by 0
  23. 2026Jaxolotl: A Unified High-Performance Benchmark Suite for LTL-Based Multi-Task RLcited by 0