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EBRL: Asynchronous Embodied RL by Multi-Grained Resource Management

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Embodied reinforcement learning (RL) improves model capabilities with a pipeline of environment simulation, action generation, and model updates. These stages show heterogeneous CPU and GPU demands, making efficient resource utilization difficult. Recent systems overlap rollout (simulation and generation) with training for efficiency, but exclusive GPU allocation and synchronized barrier in rollout still leave substantial hardware resource waste. In this paper, we present EBRL, an asynchronous embodied RL training system with two core techniques. The asynchronous pipelined scheduler overlaps r

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