  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
\url{https://sites.google.com/view/isaacgym-nvidia} and isaac gym can be
downloaded at \url{https://developer.nvidia.com/isaac-gym}.
