RLinf

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</div> <h1 align="center"> _{RLinf: Reinforcement Learning Infrastructure for Embodied and Agentic AI} </h1>

RLinf is a flexible and scalable open-source RL infrastructure designed for Embodied and Agentic AI. The 'inf' in RLinf stands for Infrastructure, highlighting its role as a robust backbone for next-generation training. It also stands for Infinite, symbolizing the system’s support for open-ended learning, continuous generalization, and limitless possibilities in intelligence development.

<div align="center"> <img src="https://github.com/RLinf/misc/raw/main/pic/overview.svg" alt="RLinf-overview"/> </div>

What's NEW!

• [2026/03] 🔥 RLinf now supports Stereolabs ZED cameras and Robotiq 2F-85 / 2F-140 grippers for Franka real-world RL. Doc: Franka with ZED & Robotiq.
• [2026/03] 🎉 RLinf v0.2 is released with major upgrades in Real-World RL and Multi-Agent RL. Release notes: RLinf v0.2.
• [2026/03] 🔥 RLinf supports reinforcement learning fine-tuning for LIBERO-Pro & LIBERO-Plus. Doc: LIBERO-Pro & LIBERO-Plus.
• [2026/03] 🔥 RLinf supports DAgger for embodied policies. Doc: DAgger for Embodied Policies.
• [2026/03] 🔥 RLinf now supports evaluating and fine-tuning LingBot-VLA within the RoboTwin environment! Doc: LingBot-VLA.
• [2026/03] 🔥 RLinf supports FUSCO to accelerate the MoE All-to-All communication used in Megatron. Doc: FUSCO, paper: FUSCO: High-Performance Distributed Data Shuffling via Transformation-Communication Fusion.
• [2026/03] 🔥 RLinf supports reinforcement learning on multiagents. Website: WideSeek-R1, quickstart: QuickStart, paper: WideSeek-R1: Exploring Width Scaling for Broad Information Seeking via Multi-Agent Reinforcement Learning.
• [2026/03] 🔥 RLinf supports real-world RL with XSquare Turtle2 dual-arm robot. Doc: RL on XSquare Turtle2 in the RealWorld.
• [2026/02] 🔥 RLinf supports supervised fine-tuning of Vision-Language Models. Doc: VLM SFT.
• [2026/02] 🔥 RLinf supports DSRL (Diffusion Steering via Reinforcement Learning) for Pi0, which steers a pre-trained diffusion policy by training a lightweight SAC agent in the latent noise space. Doc: DSRL for Pi0.
• [2026/02] 🔥 RLinf supports agentic reinforcement learning on rStar2. Doc: rStar2.
• [2026/02] 🔥 RLinf supports sim-real co-training for π₀ and π₀.₅. Doc: Sim-Real Co-Training.
• [2026/02] 🔥 RLinf officially supports world-model-based reinforcement learning fine-tuning for VLA. Doc: WoVR, paper: WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL.
• [2026/02] 🔥 RLinf supports reinforcement learning fine-tuning for VLA based on Wan World Model. Doc: RL on Wan World Model.
• [2026/02] 🔥 RLinf is now available on PyPI for installation via pip as a library. Doc: Installation as a Library.
• [2026/02] 🔥 The Technical Report of our realworld online learning system RLinf-USER: A Unified and Extensible System for Real-World Online Policy Learning in Embodied AI is released. Doc: RLinf-USER.
• [2026/02] 🔥 RLinf supports reinforcement learning fine-tuning for Dexbotic. Doc: RL on Dexbotic Model.
• [2026/02] 🔥 RLinf supports reinforcement learning with GSEnv for Real2Sim2Real. Doc: RL with GSEnv.
• [2026/01] 🔥 RLinf supports reinforcement learning fine-tuning for OpenSora World Model. Doc: RL on OpenSora World Model.
• [2026/01] 🔥 RLinf supports reinforcement learning fine-tuning for RoboTwin. Doc: RL on RoboTwin.
• [2026/01] 🔥 RLinf supports SAC training for flow matching policy. Doc: SAC-Flow, paper: SAC Flow: Sample-Efficient Reinforcement Learning of Flow-Based Policies via Velocity-Reparameterized Sequential Modeling.

<details> <summary><b>More updates</b></summary>

• [2025/12] 🔥 RLinf supports agentic reinforcement learning on Search-R1. Doc: Search-R1.
• [2025/12] 🔥 RLinf v0.2-pre is open-sourced. We support real-world RL with Franka. Doc: RL on Franka in the RealWorld.
• [2025/12] 🔥 RLinf supports reinforcement learning fine-tuning for RoboCasa. Doc: RL on Robocasa.
• [2025/12] 🎉 RLinf official release of v0.1.
• [2025/11] 🔥 RLinf supports reinforcement learning fine-tuning for CALVIN. Doc: RL on CALVIN.
• [2025/11] 🔥 RLinf supports reinforcement learning fine-tuning for IsaacLab. Doc: RL on IsaacLab.
• [2025/11] 🔥 RLinf supports reinforcement learning fine-tuning for GR00T-N1.5. Doc: RL on GR00T-N1.5.
• [2025/11] 🔥 RLinf supports reinforcement learning fine-tuning for Metaworld. Doc: RL on Metaworld.
• [2025/11] 🔥 RLinf supports reinforcement learning fine-tuning for Behavior 1k. Doc: RL on Behavior 1k.
• [2025/11] Add lora support to π₀ and π₀.₅.
• [2025/10] 🔥 RLinf supports reinforcement learning fine-tuning for π₀ and π₀.₅! Doc: RL on π₀ and π₀.₅ Models, paper: RL fine-tuning for π₀ and π₀.₅ technical report. The report on πRL by Machine Heart and RoboTech are also released.
• [2025/10] 🔥 RLinf now officially supports online reinforcement learning! Doc: coding_online_rl, and the report The first open-source agent online RL framework RLinf-Online is also published