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UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
arXiv:2605.30313v3 Announce Type: replace Abstract: Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved training speed, but it has also encouraged a default assumption that efficient training requires physics to reside on the GPU.
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
arXiv:2605.30313v2 Announce Type: replace Abstract: Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved training speed, but it has also encouraged a default assumption that efficient training requires physics to reside on the GPU. We revisit this assumption.