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[Submitted on 3 Sep 2026] Title:GzDRL: Reproducible and Scalable Deep Reinforcement Learning with Gazebo View a PDF of the paper titled GzDRL: Reproducible and Scalable Deep Reinforcement Learning with Gazebo, by Amal Dev Haridevan and 2 other authors View PDF HTML (experimental) Abstract:We present GzDRL, a novel single-process reinforcement learning (RL) framework for Gazebo that overcomes longstanding bottlenecks in scalable, reproducible robotics experimentation. Unlike conventional middleware-based RL-Gazebo integrations that suffer from nondeterminism and irreproducibility, GzDRL introduces a systematic, middleware-free environment-stepping mechanism that directly synchronizes agent actions and physics updates. This design enables deterministic, high-throughput data collection, efficient vectorization, and reproducible RL training and evaluation. Comprehensive benchmarks demonstrate that GzDRL achieves the highest workstation throughput among the evaluated frameworks while remaining competitive with GPU-accelerated simulators on laptop hardware, and maintains precise agent-environment synchronization, multi-agent scalability, and experiment-level reproducibility. We further validate sim-to-real transfer by deploying learned policies directly onto a physical quadrotor, without fine-tuning. Our results establish GzDRL as an accessible and reproducible platform for advancing RL in robotics and automation. Comments: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible Subjects: Robotics (cs.RO); Machine Learning (cs.LG) Cite as: arXiv:2609.13243 [cs.RO] (or arXiv:2609.13243v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.13243 arXiv-issued DOI via DataCite Submission history From: Amaldev Haridevan [view email] [v1] Thu, 3 Sep 2026 17:35:13 UTC (8,400 KB) Full-text links: Access Paper: View a PDF of the paper titled GzDRL: Reproducible and Scalable Deep Reinforcement Learning with Gazebo, by Amal Dev Haridevan and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.LG References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)