nvidia/isaaclab-arena-envs

IsaacLab-Arena Environments

Isaac Lab-Arena is a robotics simulation framework that enhances NVIDIA IsaacLab by providing a composable, scalable system for creating diverse simulation environments and evaluating robot learning policies. GPU-accelerated simulation environments for robotics learning, compatible with LeRobot and the EnvHub ecosystem.

Available Environments

The following are example environments built with NVIDIA IsaacLab Arena. The community can create custom environments using the IsaacLab Arena framework:

Preview	Environment	Description
	gr1_microwave	Reach out to the microwave and open it.
	galileo_pnp	Pick objects and place in target location
	g1_locomanip_pnp	Pick up the brown box from the shelf, and place it into the blue bin on the table located at the right of the shelf.
	kitchen_pnp	Kitchen object manipulation tasks
	press_button	Locate and press button

Quick Start

Evaluate a trained policy e.g. SmolVLA:

lerobot-eval \
    --policy.path=nvidia/smolvla-arena-gr1-microwave \
    --env.type=isaaclab_arena \
    --env.hub_path=nvidia/isaaclab-arena-envs \
    --rename_map='{"observation.images.robot_pov_cam_rgb": "observation.images.robot_pov_cam"}' \
    --policy.device=cuda \
    --env.environment=gr1_microwave \
    --env.embodiment=gr1_pink \
    --env.object=mustard_bottle \
    --env.headless=false \
    --env.enable_cameras=true \
    --env.video=true \
    --env.video_length=10 \
    --env.video_interval=15 \
    --env.state_keys=robot_joint_pos \
    --env.camera_keys=robot_pov_cam_rgb \
    --trust_remote_code=True \
    --eval.batch_size=1

Related Links

• LeRobot - Open-source robotics learning library
• EnvHub Documentation - LeRobot environment hub
• IsaacLab - NVIDIA's robot learning framework
• IsaacLab Arena - Community environments for IsaacLab