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

*Source* · `src-makoviychuk-2021-isaac-gym` · status: **n/a**

| field | value |
|---|---|
| kind | Peer-reviewed paper |
| authors | Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, et al. |
| venue | NeurIPS 2021 Datasets and Benchmarks |
| date | 2021-08-24 |
| url | https://arxiv.org/abs/2108.10470 |
| arxiv | 2108.10470 |
| accessed | 2026-10-24 |
| notes | Physics simulation and policy training both on one GPU; reports 2-3 orders of magnitude faster training than CPU-simulator pipelines. |

## Backlinks (computed)

**cited by:** [Massively parallel GPU simulation](../technique/massively-parallel-simulation.md)

## Citation

Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, et al. (2021-08-24). *Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning*. NeurIPS 2021 Datasets and Benchmarks https://arxiv.org/abs/2108.10470

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Provenance: created in run `2026-10-24-techniques-sim-math`.