EBRL: Asynchronous Embodied RL by Multi-Grained Resource Management
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...
Liang Mi, Wei-Jun Wang, Bo-Wen Gao et al.
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