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isaaclab_arena

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isaaclab_arena
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Table of Contents

  • Home

Isaac Lab Arena Overview

  • Isaac Lab Arena Overview

Set Up

  • Installation

Getting Started

  • First Arena Environment
  • First Arena Experiment
  • Exploring Environment Variations
  • Running a Real Policy
    • OpenPI
    • GR00T
    • DreamZero

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

  • Example Environments
    • RoboLab Task Catalog
    • Kitchen Benchmark Catalog
  • Evaluation
    • Run an Evaluation
    • Sensitivity Analysis
    • Multi-Node Evaluation
  • 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
  • Agentic Environment Generation
    • Pick and Place atomic task with homogeneous objects
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Pick and Place atomic task with heterogeneous objects
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Pick and Place composite task with SimReady assets
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Pick and Place on a Kitchen Countertop
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment
    • Open a Kitchen Fridge Door
      • Run Agentic Environment Generation
      • Edit the Environment Graph Spec
      • Use the Generated Environment

Concepts

  • Environment
    • Environment Definition
    • Environment Builder
  • Agentic Environment Generation
    • System Overview
    • Inference Model and Spec Quality
    • GUI Runner
    • CLI Runner
  • Scene
    • Assets
    • Rigid Object Sets
    • Affordances
  • Task
    • Composite and Sequential Tasks
    • Predicates and Subtask Progress Tracking
    • RL Tasks
    • Metrics
  • Embodiment
    • Teleop Devices
  • Object and Robot Placement
    • Relations and Strategies
    • Collision Handling
    • Placement Solver
    • Placement Validation
    • Pooled Placement
    • Homogeneous and Heterogeneous Object Placement
  • Policy
  • Arena Experiments
  • Variations
    • Variations
  • Sensitivity Analysis

Advanced

  • Omniverse Authentication
  • Assets Management
  • Jupyter Notebooks

References

  • Release Notes
  • Citing Isaac Lab-Arena
  • Variations

Variations#

  • Variations

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Arena Experiments

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Variations
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