Support End2end GPU training?

[hithxh]

Is there some configurations that only requires GPU to train bsk-rl env, which would reduce the data transformation between CPU and GPU？like isaccegym from Nvidia

[Mark2000]

No, since Basilisk is developed to run on the CPU; it would be an enormous amount of effort to port it over. Anecdotally, I believe the environment is complex enough such that the majority of learning time is spent executing env steps (as opposed to moving data around and doing gradient descent). While I don’t have GPU development experience, I don’t think that a GPU version of the sim (if possible) would improve performance enough to cut down on training time significantly - though I would love to be proven wrong!