Genesis Forge

Genesis Forge is a powerful framework for building reinforcement learning environments using the Genesis physics simulator. It provides a flexible and modular architecture to get your robot up and running quickly with less boilerplate work.

Key Features

• ⚙️ Modular composable environment design

• 💥 Comprehensive contact/collision manager

• 🎬 Automatically record video snippets during training

• 🕹️ Connect a game controller for hands-on policy evaluation and play-mode.

• 🤖 Seamless integration with popular RL libraries: RSL-RL and SKRL

• User Guide
• API Reference

Citation

If you used Genesis Forge in your research, we would appreciate it if you could cite it.

@misc{Genesis,
  author = {Jeremy Gillick},
  title = {Genesis Forge: A modular framework for RL robot environments},
  month = {September},
  year = {2025},
  url = {https://github.com/jgillick/genesis-forge}
}