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isaaclab_arena 0.2

  • GitHub
isaaclab_arena 0.2 - Home isaaclab_arena 0.2 - Home

isaaclab_arena 0.2
  • GitHub

Table of Contents

Set Up

  • Installation

Getting Started

  • First Arena Environment
  • Running your First Experiments
    • Exploring Environment Variations
    • Running a Real Policy

Arena in Your Repo

  • Arena in Your Repository
    • Installing IsaacLab-Arena in Your Repository
    • Defining Environments in Your Repository
    • Your Own Tasks and Embodiments

Example Workflows

  • Imitation Learning
    • G1 Loco-Manipulation Box Pick and Place Task
      • Environment Setup and Validation
      • Teleoperation Data Collection
      • Data Generation
      • Policy Post-Training
      • Closed-Loop Policy Inference and Evaluation
    • GR1 Open Microwave Door Task
      • Environment Setup and Validation
      • Teleoperation Data Collection
      • Data Generation
      • Policy Post-training
      • Closed-Loop Policy Inference and Evaluation
    • GR1 Sequential Pick & Place and Close Door Task
      • Environment Setup and Validation
      • Teleoperation Data Collection
      • Data Generation
      • Policy Post-training
      • Closed-Loop Policy Inference and Evaluation
  • Reinforcement Learning
    • Franka Lift Object Task
      • Environment Setup and Validation
      • Policy Training
      • Closed-Loop Policy Inference and Evaluation
    • Dexsuite Kuka Allegro Lift Task (Newton)
      • Environment Setup and Validation
      • Policy Training (Isaac Lab)
      • Evaluation in Arena

Concepts

  • Concept Overview
  • Environment Compilation
  • Scene
    • Assets
    • Affordances
  • Task
    • Sequential Tasks
    • RL Tasks
    • Metrics
  • Embodiment
    • Teleop Devices
  • Object Placement
  • Policy
    • Evaluation Types
    • Remote Policies

Advanced

  • Omniverse Authentication
  • Assets Management
  • Jupyter Notebooks
  • Server-Client Mode With GR00T

References

  • Release Notes
  • Arena in Your Repository

Arena in Your Repository#

This section explains how to integrate IsaacLab-Arena into your own repository — installing it as a submodule, defining custom environments, and registering your own tasks and embodiments.

  • Installing IsaacLab-Arena in Your Repository
  • Defining Environments in Your Repository
  • Your Own Tasks and Embodiments

previous

Running a Real Policy

next

Installing IsaacLab-Arena in Your Repository
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