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Evolution Gym is a large-scale benchmark for co-optimizing the design and control of soft robots. It provides a lightweight soft-body simulator wrapped with a gym-like interface for developing learning algorithms. EvoGym also includes a suite of 32 locomotion and manipulation tasks, detailed on our [website](https://evolutiongym.github.io/all-tasks). Task suite evaluations are described in our [NeurIPS 2021 paper](https://arxiv.org/pdf/2201.09863).
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> [!NOTE]
> **[06/25]** 90k+ robot structures and 2.5k+ robot policies from the original EvoGym paper are now [available for download with instructions](https://github.com/EvolutionGym/evogym-datasets)!