Welcome to Isaac Lab! ===================== .. figure:: source/_static/isaaclab.jpg :width: 100% :alt: H1 Humanoid example using Isaac Lab **Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows in robotics research (such as reinforcement learning, learning from demonstrations, and motion planning). It supports `NVIDIA Isaac Sim`_ for photo-realistic scenes and RTX rendering, and can also run standalone with the Newton physics backend for fast and efficient simulation without requiring a full Isaac Sim installation. Isaac Lab 3.0 introduces a :doc:`multi-backend architecture ` with shared asset, sensor, and scene APIs. Task presets let you select supported physics and rendering configurations, while visualization can be chosen independently. The core objectives of the framework are: - **Modularity**: Easily customize and add new environments, robots, and sensors. - **Agility**: Adapt to the changing needs of the community. - **Openness**: Remain open-sourced to allow the community to contribute and extend the framework. - **Batteries-included**: Include a number of environments, sensors, and tasks that are ready to use. Key features available in Isaac Lab include GPU-accelerated physics simulation with **PhysX** and **Newton**, the **OvPhysX** backend, vectorized camera rendering with **Newton Warp** and **RTX** renderers, domain randomization, and support for running in the cloud. Newton also supports soft bodies, cloth, and experimental cables through its VBD solver, along with experimental particle materials and coupled solvers for rigid--deformable interactions. See :doc:`source/concepts/physics_backends` for backend features and requirements. .. note:: **Upgrading from Isaac Lab 2.x?** See the :ref:`migrating-to-isaaclab-3-0` guide for a full list of breaking changes and the new multi-backend architecture introduced in Isaac Lab 3.0. Additionally, Isaac Lab provides a variety of environments, and we are actively working on adding more environments to the list. These include classic control tasks, fixed-arm and dexterous manipulation tasks, legged locomotion tasks, and navigation tasks. Browse the registered tasks and build a command in the :doc:`environment browser `. Isaac Lab is developed with specific robot assets that are now **Batteries-included** as part of the platform and are ready to learn! These robots include... - **Classic** Cartpole, Humanoid, Ant - **Fixed-Arm and Hands**: UR10, Franka, Allegro, Shadow Hand - **Quadrupeds**: Anybotics AnymalB, AnymalC, AnymalD, Unitree A1, Unitree Go1, Unitree Go2, Boston Dynamics Spot - **Humanoids**: Unitree H1, Unitree G1 - **Quadcopter**: Crazyflie The platform is also designed so that you can add your own robots! Please refer to the :ref:`how-to` section for details. .. tip:: Working with a coding agent? Isaac Lab ships a library of agent skills for installation, environment creation, RL training, migration, and more. See :doc:`source/developer-tools/agent_skills`. For more information about the framework, please refer to the `technical report `_ :cite:`mittal2025isaaclab`. For clarifications on NVIDIA Isaac ecosystem, please check out the :ref:`isaac-lab-ecosystem` section. .. figure:: source/_static/tasks.jpg :width: 100% :alt: Example tasks created using Isaac Lab License ======== The Isaac Lab framework is open-sourced under the BSD-3-Clause license, with certain parts under Apache-2.0 license. Please refer to :ref:`license` for more details. Citation ======== If you use Isaac Lab in your research, please cite our technical report: .. code:: bibtex @article{mittal2025isaaclab, title={Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning}, author={Mayank Mittal and Pascal Roth and James Tigue and Antoine Richard and Octi Zhang and Peter Du and Antonio Serrano-Muñoz and Xinjie Yao and René Zurbrügg and Nikita Rudin and Lukasz Wawrzyniak and Milad Rakhsha and Alain Denzler and Eric Heiden and Ales Borovicka and Ossama Ahmed and Iretiayo Akinola and Abrar Anwar and Mark T. Carlson and Ji Yuan Feng and Animesh Garg and Renato Gasoto and Lionel Gulich and Yijie Guo and M. Gussert and Alex Hansen and Mihir Kulkarni and Chenran Li and Wei Liu and Viktor Makoviychuk and Grzegorz Malczyk and Hammad Mazhar and Masoud Moghani and Adithyavairavan Murali and Michael Noseworthy and Alexander Poddubny and Nathan Ratliff and Welf Rehberg and Clemens Schwarke and Ritvik Singh and James Latham Smith and Bingjie Tang and Ruchik Thaker and Matthew Trepte and Karl Van Wyk and Fangzhou Yu and Alex Millane and Vikram Ramasamy and Remo Steiner and Sangeeta Subramanian and Clemens Volk and CY Chen and Neel Jawale and Ashwin Varghese Kuruttukulam and Michael A. Lin and Ajay Mandlekar and Karsten Patzwaldt and John Welsh and Huihua Zhao and Fatima Anes and Jean-Francois Lafleche and Nicolas Moënne-Loccoz and Soowan Park and Rob Stepinski and Dirk Van Gelder and Chris Amevor and Jan Carius and Jumyung Chang and Anka He Chen and Pablo de Heras Ciechomski and Gilles Daviet and Mohammad Mohajerani and Julia von Muralt and Viktor Reutskyy and Michael Sauter and Simon Schirm and Eric L. Shi and Pierre Terdiman and Kenny Vilella and Tobias Widmer and Gordon Yeoman and Tiffany Chen and Sergey Grizan and Cathy Li and Lotus Li and Connor Smith and Rafael Wiltz and Kostas Alexis and Yan Chang and David Chu and Linxi "Jim" Fan and Farbod Farshidian and Ankur Handa and Spencer Huang and Marco Hutter and Yashraj Narang and Soha Pouya and Shiwei Sheng and Yuke Zhu and Miles Macklin and Adam Moravanszky and Philipp Reist and Yunrong Guo and David Hoeller and Gavriel State}, journal={arXiv preprint arXiv:2511.04831}, year={2025}, url={https://arxiv.org/abs/2511.04831} } Acknowledgement =============== Isaac Lab development initiated from the `Orbit `_ framework. We gratefully acknowledge the authors of Orbit for their foundational contributions. Table of Contents ================= .. toctree:: :maxdepth: 1 :titlesonly: :caption: Isaac Lab source/isaaclab/ecosystem source/isaaclab/installation source/isaaclab/environments source/isaaclab/quickstart source/isaaclab/tutorial source/isaaclab/demos source/isaaclab/interactive_demos source/how-to/index source/isaaclab/migrating .. toctree:: :maxdepth: 1 :titlesonly: :caption: Concepts source/concepts/task_workflows source/concepts/reinforcement_learning source/concepts/backends_and_presets source/concepts/physics_backends source/concepts/solver_differences source/concepts/actuators source/concepts/motion_generators source/concepts/sensors/index source/concepts/renderers source/concepts/visualization source/concepts/deformables source/concepts/coupled_solvers source/concepts/schema_cfgs source/concepts/scene_data_providers .. toctree:: :maxdepth: 1 :titlesonly: :caption: Features source/features/isaac_teleop source/features/hydra source/features/multi_gpu source/features/population_based_training source/features/hpc_clusters source/features/cloud_deployment .. toctree:: :maxdepth: 1 :titlesonly: :caption: Developer Tools source/developer-tools/editor_setup source/developer-tools/template_generator source/developer-tools/benchmarking/index source/developer-tools/agent_skills source/developer-tools/add_physics_backend source/developer-tools/extending_newton_solvers .. toctree:: :maxdepth: 1 :titlesonly: :caption: Experimental Features source/experimental-features/bleeding-edge source/concepts/warp_environments source/experimental-features/ray source/experimental-features/visuo_tactile_sensor source/experimental-features/rlinf_vla_posttraining source/features/imitation-learning/index .. toctree:: :maxdepth: 1 :titlesonly: :caption: Resources source/policy_deployment/index .. toctree:: :maxdepth: 1 :titlesonly: :caption: References source/api/index source/refs/additional_resources source/refs/contributing source/refs/troubleshooting source/refs/issues source/refs/release_notes source/refs/changelog source/refs/license source/refs/bibliography .. toctree:: :hidden: :caption: Project Links GitHub NVIDIA Isaac Sim NVIDIA PhysX NVIDIA Newton Indices and tables ================== * :ref:`genindex` * :ref:`modindex` * :ref:`search` .. _NVIDIA Isaac Sim: https://docs.isaacsim.omniverse.nvidia.com/latest/index.html