Genesis Forge

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

RL Robotics What?

Today, modern robots learn to balance, walk, manipulate objects, and more, using AI/Reinforcement Learning algorithms. You simply create a program that defines a task and provides feedback on the robot’s performance — much like training a dog with treats and commands. Genesis Forge is a framework that makes this very easy to, with documentation and examples to get you started.

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