Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning - Makoviychuk, Viktor; Wawrzyniak, Lukasz; Guo, Yunrong; Lu, Michelle; Storey, Kier; Macklin, Miles; Hoeller, David; Rudin, Nikita; Allshire, Arthur; Handa, Ankur; State, Gavriel (Proceedings of the Neural Information Processing Systems Track on Datasets and Benchmarks, 2021)