# FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning

arXiv: https://arxiv.org/abs/2503.18616 · HTML: https://mlsanity.com/paper/2503.18616/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in RL for clinical treatment and surgery, one of 15 directions in Deep reinforcement learning methods.
- Builds on 14 of its 36 references that are in the map.
- First posted on arXiv 24 Mar 2025.

## Placed in

- Deep reinforcement learning methods / [RL for clinical treatment and surgery](https://mlsanity.com/deeprl/rl-for-clinical-treatment-and-surgery/)

## Builds on (most cited first, 14 of 14)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning](https://mlsanity.com/paper/2108.13035/) (2021)
- [Open-Sourced Reinforcement Learning Environments for Surgical Robotics](https://mlsanity.com/paper/1903.02090/) (2019)
- [Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery](https://mlsanity.com/paper/2406.06092/) (2024)
- [Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery](https://mlsanity.com/paper/2109.02323/) (2021)
- [Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot](https://mlsanity.com/paper/2302.09772/) (2023)
- [Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning](https://mlsanity.com/paper/2011.04813/) (2020)
- [Learning from Demonstrations for Autonomous Soft-tissue Retraction](https://mlsanity.com/paper/2110.00336/) (2021)
- [LapGym -- An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery](https://mlsanity.com/paper/2302.09606/) (2023)
- [Human-in-the-loop Embodied Intelligence with Interactive Simulation Environment for Surgical Robot Learning](https://mlsanity.com/paper/2301.00452/) (2023)
- [Autonomous tissue retraction with a biomechanically informed logic based framework](https://mlsanity.com/paper/2109.02316/) (2021)
- [Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty](https://mlsanity.com/paper/2203.05438/) (2022)

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

- [RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments](https://mlsanity.com/paper/2509.17057/) (2025)
- [VERAGMIL: Virtual Environment for Scooping Granular Foods with Imitation Learning Models](https://mlsanity.com/paper/2608.18258/) (2026)

## Abstract (arXiv)

Robotic surgery is a rapidly developing field that can greatly benefit from the automation of surgical tasks. However, training techniques such as Reinforcement Learning (RL) require a high number of task repetitions, which are generally unsafe and impractical to perform on real surgical systems. This stresses the need for simulated surgical environments, which are not only realistic, but also computationally efficient and scalable. We introduce FF-SRL (Fast and Flexible Surgical Reinforcement Learning), a high-performance learning environment for robotic surgery. In FF-SRL both physics simulation and RL policy training reside entirely on a single GPU. This avoids typical bottlenecks associated with data transfer between the CPU and GPU, leading to accelerated learning rates. Our results show that FF-SRL reduces the training time of a complex tissue manipulation task by an order of magnitude, down to a couple of minutes, compared to a common CPU/GPU simulator. Such speed-up may facilitate the experimentation with RL techniques and contribute to the development of new generation of surgical systems. To this end, we make our code publicly available to the community.