awesome-isaac-gym

A curated list of awesome NVIDIA Issac Gym frameworks, papers, software, and resources
https://github.com/robotlearning123/awesome-isaac-gym

Last synced: 2 days ago
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🚀 Latest Releases
Official resource
🛠 Tools & Libraries
- Community Projects
  - VRKitchen2.0-IndoorKit
  - isaacgym-utils
  - isaacgym_sandbox
  - thormang3-gogoro-PPO - wheeled vehicle control using PPO.
  - DexterousHands
  - shifu
  - Dofbot Reacher
  - UR10 Reacher
  - TimeChamber - play framework.
  - Rofunc
  - RL-MPC-Locomotion
  - isaacgym_hammering
  - legged_gym_isaac
  - Bez_IsaacGym
  - Isaac_Underwater
  - agibot_x1_train
- RL Frameworks
  - RL Games - Compatible RL algorithms
  - skrl - Modular RL library
  - ElegantRL
  - Minimal Stable PPO
Related GitHub Repos
- Others
  - IsaacGymEnvs
  - dvrk-shape_servoing
  - Bittle_URDF
  - SceneCollisionNet
  - TD3 applied to the Bittle robot in Isaac Sim
  - Isaac-ManipulaRL - gym, Additional add SAC2019 and Reinforcement Learning from Demonstration Algorithm.
  - minimal-isaac-gym
  - Safe Multi-Agent Isaac Gym Benchmark - Agent Isaac Gym benchmark for safe multi-agent reinforcement learning research.
  - isaac_rover_mars_gym
  - isaac_rover_2.0
  - Rapid Locomotion
  - walk-these-ways - to-Real Locomotion Starter Kit
  - walk-these-ways - to-Real Locomotion Starter Kit
  - dvrk_IssacGym
  - codebase_thesis
  - Bimanual_offlineRL
Conference Sessions and Talks
- Community Projects
📑 Research Papers
- Robot Manipulation
  - Factory: Fast Contact for Robotic Assembly
  - Factory: Fast Contact for Robotic Assembly
  - Paper
  - Transferring Dexterous Manipulation from GPU Simulation to Real-World TriFinger
  - Paper
  - Paper
  - Paper
  - Paper
  - Factory: Fast Contact for Robotic Assembly
  - Masked Visual Pre-training for Robotics (MVP)
  - Factory: Fast Contact for Robotic Assembly
  - ASE: Adversarial Skill Embeddings
  - Data-Driven Operational Space Control (OSCAR)
  - Paper
  - Code
  - DefGraspSim - based grasping of deformable objects.
  - Video
  - Code
  - In-Hand Object Pose Tracking
  - STORM: Fast Joint-Space MPC for Reactive Manipulation
  - Code
  - Paper
  - Code
  - Causal Reasoning in Simulation for Robot Manipulation Policies
  - Reactive Long Horizon Task Execution
  - RLAfford - to-end Affordance Learning with Reinforcement Learning", ICRA 2023.
  - Factory: Fast Contact for Robotic Assembly
  - Paper
  - DefGraspSim - based grasping of deformable objects.
  - Paper
  - Factory: Fast Contact for Robotic Assembly
  - Factory: Fast Contact for Robotic Assembly
  - Factory: Fast Contact for Robotic Assembly
  - Factory: Fast Contact for Robotic Assembly
  - Factory: Fast Contact for Robotic Assembly
  - Factory: Fast Contact for Robotic Assembly
  - Factory: Fast Contact for Robotic Assembly
- Core Papers
- Others
  - BayesSimIG
  - Learning to Swim - DOF control of thruster-driven AUVs.
  - MarineGym: Accelerated Training for Underwater Vehicles with High-Fidelity RL Simulation
  - space_robotics_bench
  - Code
  - Humanoid-Gym - Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer
- Localization & Control
News
- NVIDIA Isaac Sim on Omniverse Now Available in Open Beta 21/06/2021
GTC
Papers
- Manipulation
  - RSS2021@DO-Sim
  - ICRA2021 - causal-struct-xfer-manip)
  - RSS2021 DO-Sim workshop
  - arxiv2021 - for-lifelong-manipulation)
  - 2021
  - ICRA2021 - hand-object-pose-tracking/)
  - CoRL2021 - mpc), [**code**](https://github.com/NVlabs/storm)
  - ICRA2021
  - 2021
  - arxiv2021 - for-lifelong-manipulation)
  - RSS2022 - Omniverse/IsaacGymEnvs)
- Localization
  - CoRL2021
  - RAL2021
  - CoRL2020 - object-control/)
- Others
  - arxiv2021 - sim-ig)
  - 2021 - mm/)
  - RSS2020 - oriented-exploration/)
  - ICRA2019
  - CoRL2018 - gpu-simulation/home)
  - CoRL2018 - gpu-simulation/home)
Tutorials & Videos
- RSS2021 Workshop (https://sites.google.com/view/isaacgym/home)
- Videos
📖 Learning Materials
- Video Guides
  - Simulator Basics
  - Isaac Sim GTC 2021 — Sim-to-Real - to-real transfer using Isaac Sim.
  - ICRA2021
  - 2021
  - RSS2021_VLRR - hand-reorientation)
  - Advanced Features
  - Community Demonstrations
  - From Point Clouds to Material Graphs: Explore the Latest in Omniverse Create 2021.3
  - Robot Autonomy with the Digital Twin in Isaac Sim
  - Can We Simulate a Real Robot? - quality physics simulator for a robot quadruped.
  - Teaching Robots to Walk with Reinforcement Learning
  - Robot Dog Learns to Walk — Bittle Reinforcement Learning Part 3
  - Robot Import Guide
  - NVIDIA Omniverse YouTube Channel
  - Robot Import Guide
  - Isaac Sim Video Tutorials
  - Community Demonstrations
  - From Point Clouds to Material Graphs: Explore the Latest in Omniverse Create 2021.3
  - Robot Autonomy with the Digital Twin in Isaac Sim
  - Advanced Features
  - Can We Simulate a Real Robot? - quality physics simulator for a robot quadruped.
  - Teaching Robots to Walk with Reinforcement Learning
  - Robot Dog Learns to Walk — Bittle Reinforcement Learning Part 3
  - Robot Import Guide
- Blogs
  - A Brief Introduction to NVIDIA Omniverse
- Locomotion
  - RAL2021
  - RSS2022 - AI/rapid-locomotion-rl/tree/main)
  - CoRL2021
  - 2021
  - ICRA2021
  - RSS2024 - Lab/ABS)
  - CoRL2020 - contact-controller/home), [blog](https://developer.nvidia.com/blog/contact-adaptive-controller-locomotion/)
  - HumanoidVerse - simulator Framework for Humanoid Robot Learning (2024)
  - HIMLoco
  - Paper
  - ASAP - World Physics for Learning Agile Humanoid Whole-Body Skills (2025)
  - Paper
- Tutorials
🎓 Getting Started
- Official Isaac Gym Download
- transic - to-Real Policy Transfer by Learning from Online Correction" CoRL 2024.
- Robot Synesthesia - Hand Manipulation with Visuotactile Sensing" ICRA 2024.
🎯 Quick Links
- Community Forum
📚 Official Resources
- Learning Resources
  - Developer Blog
  - NVIDIA Omniverse Channel
- Core Documentation
  - OmniIsaacGymEnvs Repository

Programming Languages

Python 45 HTML 1 Jupyter Notebook 1 C++ 1

Categories

📖 Learning Materials 54 📑 Research Papers 54 🛠 Tools & Libraries 20 Papers 20 Tutorials & Videos 18 Related GitHub Repos 16 Official resource 10 Conference Sessions and Talks 6 🚀 Latest Releases 5 🎓 Getting Started 3 📚 Official Resources 3 GTC 3 News 1 🎯 Quick Links 1

Sub Categories

Robot Manipulation 37 Others 28 Video Guides 24 Community Projects 22 Tutorials 17 Locomotion 12 Manipulation 11 Videos 10 Localization & Control 8 RSS2021 Workshop (https://sites.google.com/view/isaacgym/home) 8 RL Frameworks 4 Core Papers 3 Localization 3 Learning Resources 2 Blogs 1 Core Documentation 1

Keywords

reinforcement-learning 14 isaac-gym 11 robotics 9 pytorch 5 isaac-sim 4 robot-learning 4 omniverse 3 sim-to-real 3 gym 3 deep-reinforcement-learning 3 ppo 3 machine-learning 2 benchmark 2 imitation-learning 2 simulation 2 robot-control 2 robot-manipulation 2 dqn 2 artificial-intelligence 2 control-systems 2 humanoid-robot 2 isaac 2 omni-gym 2 deep-learning 2 sim2real 2 isaacgym 1 unitree 1 multimodal-deep-learning 1 go1 1 safe-reinforcement-learning 1 multi-agent-reinforcement-learning 1 dofbot 1 dexterous-robotic-hand 1 universal-robots 1 omniverse-kit-extension 1 robotics-simulation 1 deepmind 1 gymnasium 1 isaac-lab 1 isaac-orbit 1 isaaclab 1 jax 1 nvidia-omniverse 1 openai-gym 1 python 1 rl 1 robosuite 1 skrl 1 demonstration 1 manipulator 1