Release Notes#

v0.1.0#

This initial release of Isaac Lab Arena delivers the first version of the composable task definition API. Also included are example workflows for static manipulation tasks and loco-manipulation tasks including GR00T GN1.5 finetuning and evaluation.

Key features of this release include:

  • Composable Task Definition: Base-class definition for Task, Embodiment, and Scene that can be subclassed to create new tasks, embodiments, and scenes. ArenaEnvBuilder for converting Scene, Embodiment, and Task into an Isaac Lab runnable environment.

  • Metrics: Mechanism for adding task-specific metrics which are reported during evaluation.

  • Isaac Lab Mimic Integration: Integration with Isaac Lab Mimic to automatically generate Mimic definitions for available tasks.

  • Example Workflows: Two example workflows for static manipulation tasks and loco-manipulation tasks.

  • GR00T GN1.5 Integration: Integration with GR00T GN1.5 including a example workflows for finetuning and evaluating the model on the static and loco-manipulation workflows.

Known limitations:

  • Number of Environments/Tasks: This initial is intended to validation the composable task definition API, and comes with a limited set of tasks and workflows.

  • Loco-manipulation GR00T GN1.5 finetuning: GR00T GN1.5 finetuning for loco-manipulation requires a large amount of GPU resources. (Note that static manipulation finetuning can be performed on a single GPU.)

On this page