I agree with you that PhysX is definitely easier to exploit, and you will lose time because of that. But on the other hand, for many problems, the gain in trai

I agree with you that PhysX is definitely easier to exploit, and you will lose time because of that. But on the other hand, for many problems, the gain in training time using PhysX is just so massive (2 or 3 orders of magnitude), that you can then train with a much more aggressive sim2real policy to mitigate that to some extent, or even spend time debugging manually and still ending up more productive.