Unified framework for robot learning built on NVIDIA Isaac Sim

Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.

RL Extension Library for Robots, Based on IsaacLab.

Modular Reinforcement Learning (RL) library (implemented in PyTorch, JAX, and NVIDIA Warp) with support for Gymnasium/Gym, NVIDIA Isaac Lab, MuJoCo Playground and other environments

Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)

This is a repository for reinforcement learning implementation for Unitree robots, based on IsaacLab.

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

LeIsaac provides teleoperation functionality in IsaacLab using the SO101Leader (LeRobot), including data collection, data conversion, and subsequent policy training.

Direct IsaacLab Workflow for Legged Robots

Unitree Go2 simulation platform for testing navigation, decision-making and autonomous tasks. (NVIDIA Isaac/ROS2)

The Unitree simulation environment built based on Isaac Lab

Isaac Lab - Arena is a robotics simulation framework that enhances NVIDIA Isaac Lab by providing a composable, scalable system for creating diverse simulation environments and evaluating robot learning policies. The framework enables developers to rapidly prototype and test robotic tasks with various robot embodiments, objects, and environments.

🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)

An independent extension based on IsaacLab. It provides support for Robot Manipulation tasks (Robot Arm and Dextrous Hand).

two wheel legged robot for IsaacLab - reinforcement learning

Isaaclab based Parkour locomotion

External extenstion template based on Isaac Lab

Environments, assets, workflow for open-source mobile robotics, integrated with IsaacLab.

TrackerLab is a cutting-edge modular framework for humanoid motion retargeting, trajectory tracking, and skill-level control, built on top of IsaacLab.

beyondAMP provides a unified pipeline to integrate Adversarial Motion Priors (AMP) into any IsaacLab robot setup, with minimal modifications and full compatibility with custom robot designs.

Isaac Lab external project for SO-ARM100/101 arm robot.

Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

RL_Training Repo Based on Isaaclab

Isaac Drone Racer is a reinforcement learning framework for high speed autonomous drone racing, built on top of IsaacLab

Isaaclab-based grasp learning test bench

MultiModalWBC is a fully open-source, IsaacLab-based framework for multi-modal whole-body control, designed for motion imitation, motion tracking, and task-conditioned control in legged robots. The framework unifies robot proprioceptive states and multi-modal human motion conditions into a consistent interface

A legged manipulator framework based on IsaacLab

No description available

A lightweight robotics RL framework built on Genesis with IsaacLab-aligned APIs, enabling fast task development and easy migration from existing IsaacLab environments.

Simulating 4-Legged Spider Robot (SpdrBot) with Nvidia IsaacSim and IsaacLab