u/Vegetable_Pirate_263

well known benchmarks(dm-control, og-bench, humanoid-bench, etc) are based on cpu-simulator, and they are extremely slow.

for publish paper with novel rl-algorithm, we need to use multiple seeds(at least 5) for each benchmarks, and we have to also do some ablations. I think it is too long to test the hyperparameter tuning and conduct ablation tests for cpu-based simulator benchmarks.

But, recent GPU-based simulator benchmarks(mujoco-mjx, isaac gym, isaac lab, mujoco-playground) makes all training so fast. These alternatives are good to test algorithms and hyperparameter tuning but i couldn't found that recent online RL algorithm papers( ex) DIME https://arxiv.org/abs/2502.02316) uses these benchmarks.