cff-version: 1.2.0
title: "RSL-RL: A Learning Library for Robotics Research"
message: "If you use this work, please cite the following paper."
repository-code: "https://github.com/leggedrobotics/rsl_rl"
license: BSD-3-Clause
version: 3.3.0
type: software
authors:
  - family-names: Schwarke
    given-names: Clemens
  - family-names: Mittal
    given-names: Mayank
  - family-names: Rudin
    given-names: Nikita
  - family-names: Hoeller
    given-names: David
keywords:
  - reinforcement learning
  - robotics
  - control
  - RSL-RL
preferred-citation:
  type: article
  authors:
    - family-names: Schwarke
      given-names: Clemens
    - family-names: Mittal
      given-names: Mayank
    - family-names: Rudin
      given-names: Nikita
    - family-names: Hoeller
      given-names: David
    - family-names: Hutter
      given-names: Marco
  title: "RSL-RL: A Learning Library for Robotics Research"
  journal: "arXiv preprint"
  doi: 10.48550/arXiv.2509.10771
  url: "https://arxiv.org/abs/2509.10771"