@article{isaacgymhighperformancegpubasedphysics,
  title = {Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning},
  author = {Viktor Makoviychuk and Lukasz Wawrzyniak and Yunrong Guo and Michelle Lu and Kier Storey and Miles Macklin and David Hoeller and Nikita Rudin and Arthur Allshire and Ankur Handa and Gavriel State},
  year = {2021},
  eprint = {2108.10470},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2108.10470v2},
}