Kartik
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fc296548cb
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feat(envs): Add NVIDIA IsaacLab-Arena Lerobot (#2699)
* adding Isaaclab Arena from collab
* adding into lerobot-eval
* minor modification
* added bash script for env setup
* setups
* fix applauncher not getting the arguments
* data conversion, train and eval smolvla
* fixed imports
* clean-up
* added test suits & clean up - wip
* fixed video recording
* clean-up
* hub integration working
* clean-up
* added kwargs
* Revert "added kwargs"
This reverts commit 9b445356385d0707655cf04d02be058b25138119.
* added kwargs
* clean-up
* cleaned unused function
* added logging
* docs
* cleaned up IsaaclabArenaEnv
* clean-up
* clean-up
* clean up
* added tests
* minor clean-up
* fix: support for state based envs
* feat(envs): Add NVIDIA IsaacLab Arena integration with LeRobot for policy evaluation at scale
* feat(envs): Add IsaacLab Arena integration for policy evaluation
Integrate NVIDIA IsaacLab Arena with LeRobot to enable GPU-accelerated
simulation through the EnvHub infrastructure.
This enables:
- Training imitation learning policies (PI0, SmolVLA, etc.)
- Evaluating trained policies in with IsaacLab Arena
The implementation adds:
- IsaaclabArenaEnv config with Arena-specific parameters
- IsaaclabArenaProcessorStep for observation processing
- Hub loading from nvkartik/isaaclab-arena-envs repository
- Video recording support
Available environments include GR1 microwave manipulation, Galileo
pick-and-place, G1 loco-manipulation, and button pressing tasks.
Datasets: nvkartik/Arena-GR1-Manipulation-Task
Policies: nvkartik/pi05-arena-gr1-microwave,
nvkartik/smolvla-arena-gr1-microwave
* added isaaclab arena wrapper and corresponding tests
* added error handling
* renamed wrapper file: isaaclab_arena to isaaclab
* added extra kwarg changes
* adjustments for hub envs
* correct class name in test file
* fixed parsing of env_kwargs
* tested end to end
* removed unused code
* refactor design
* shifted IsaacLab to hub
* removed IsaacLab tests
* docs: Add LW-BenchHub evaluation instructions
* docs: Add LW-BenchHub evaluation instructions
* docs diet
* minor edits to texts
* IL Arena commit hash
* update links
* minor edits
* fix numpy version after install of lerobot
* links update
* valideated on vanilla brev
* docs: Add LW-BenchHub evaluation instructions
* remove kwargs from all make_env calls
* remove kwargs from all make_env calls
* fix LW table and indentations
* remove environment list from docs
* docs: Update lw-benchhub eval config in envhub docs
* removing kwargs
* removed extra line
* ensure pinocchio install for lightwheel + add lightwheel website link
* remove env_kwargs
* no default empty value for hub_path
* not using assert method
* remove env_processor defaults
* revert and adding default "" value for hub_path
* pinning down packages versions
* explicit None value for hub_path
* Update src/lerobot/configs/eval.py
Co-authored-by: Jade Choghari <chogharijade@gmail.com>
Signed-off-by: Lior Ben Horin <liorbenhorin@gmail.com>
* corrected formatting
* corrected job_name var in config
* updated docs and namespace
* updated namespace
* updated docs
* updated docs
* added hardware requirements
* updated docs
---------
Signed-off-by: Lior Ben Horin <liorbenhorin@gmail.com>
Co-authored-by: lbenhorin <lbenhorin@nvidia.com>
Co-authored-by: Lior Ben Horin <liorbenhorin@gmail.com>
Co-authored-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: tianheng.wu <tianheng.wu@lightwheel.ai>
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2026-01-02 20:36:24 +01:00 |
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