Isaac Lab：面向多模态机器人学习的 GPU 加速仿真框架
机器人学
2025-11-10 v1 人工智能
摘要
我们提出了 Isaac Lab，这是 Isaac Gym 的自然后继者，将 GPU 原生机器人仿真范式扩展到大规模多模态学习时代。Isaac Lab 融合了高保真 GPU 并行物理、照片级渲染以及模块化、可组合的体系结构，用于设计环境和训练机器人策略。除了物理和渲染之外，该框架还集成了执行器模型、多频率传感器仿真、数据收集管道和域随机化工具，统一了强化学习和模仿学习在大规模下的最佳实践。我们展示了其在多样化挑战中的应用，包括全身控制、跨本体移动、接触丰富和灵巧操作，以及集成人类演示以获取技能。最后，我们讨论了即将到来的集成，这将为可扩展的、数据高效的和基于梯度的方法提供新的机遇。我们相信 Isaac Lab 的高级仿真能力、丰富的感知和数据中心规模执行将帮助解锁机器人研究下一代突破的潜力。
引用
@article{arxiv.2511.04831,
title = {Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning},
author = {NVIDIA and : and 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}
}
备注
Code and documentation are available here: https://github.com/isaac-sim/IsaacLab