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6860975 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 | RoboDojo supports multi-environment parallelism in Isaac Sim. Instead of running one scene at a time, Isaac Sim can instantiate multiple environment copies in the same simulation process, improving evaluation throughput. Your browser does not support the video tag. Parallel environments running in Isaac Sim. Parallel environments are configured through the simulation config selected by the top-level env_cfg , for example env_cfg/sim/sim_config.yml : Field Description scene.num_envs Number of environment instances to run in parallel scene.env_spacing Distance between environment instances in the Isaac Sim world Example: scene : num_envs : 5 env_spacing : 7 Increase scene.num_envs when you need higher throughput. If you see GPU memory pressure, slower rendering, or unstable simulation behavior, reduce this value and tune it according to your hardware. Parallel environment count Section titled “Parallel environment count” The release default is num_envs: 1 , which favors reliability. Increase it for throughput once a task is working on your machine. For randomized cluttered tabletop tasks, the eval client may cap the requested parallelism because these scenes import more objects and usually require more CPU/GPU memory. Related pages Section titled “Related pages” Evaluation Issues — GPU memory and parallelism troubleshooting when running many randomized environments |