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arXiv · 2511.04831

Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

NVIDIA·:·Mayank Mittal·Pascal Roth·James Tigue·Antoine Richard·Octi Zhang·Peter Du·Antonio Serrano-Muñoz·Xinjie Yao·René Zurbrügg·Nikita Rudin·Lukasz Wawrzyniak·Milad Rakhsha·Alain Denzler·Eric Heiden·Ales Borovicka·Ossama Ahmed·Iretiayo Akinola·Abrar Anwar·Mark T. Carlson·Ji Yuan Feng·Animesh Garg·Renato Gasoto·Lionel Gulich·Yijie Guo·M. Gussert·Alex Hansen·Mihir Kulkarni·Chenran Li·Wei Liu·Viktor Makoviychuk·Grzegorz Malczyk·Hammad Mazhar·Masoud Moghani·Adithyavairavan Murali·Michael Noseworthy·Alexander Poddubny·Nathan Ratliff·Welf Rehberg·Clemens Schwarke·Ritvik Singh·James Latham Smith·Bingjie Tang·Ruchik Thaker·Matthew Trepte·Karl Van Wyk·Fangzhou Yu·Alex Millane·Vikram Ramasamy·Remo Steiner·Sangeeta Subramanian·Clemens Volk·CY Chen·Neel Jawale·Ashwin Varghese Kuruttukulam·Michael A. Lin·Ajay Mandlekar·Karsten Patzwaldt·John Welsh·Huihua Zhao·Fatima Anes·Jean-Francois Lafleche·Nicolas Moënne-Loccoz·Soowan Park·Rob Stepinski·Dirk Van Gelder·Chris Amevor·Jan Carius·Jumyung Chang·Anka He Chen·Pablo de Heras Ciechomski·Gilles Daviet·Mohammad Mohajerani·Julia von Muralt·Viktor Reutskyy·Michael Sauter·Simon Schirm·Eric L. Shi·Pierre Terdiman·Kenny Vilella·Tobias Widmer·Gordon Yeoman·Tiffany Chen·Sergey Grizan·Cathy Li·Lotus Li·Connor Smith·Rafael Wiltz·Kostas Alexis·Yan Chang·David Chu·Linxi "Jim" Fan·Farbod Farshidian·Ankur Handa·Spencer Huang·Marco Hutter·Yashraj Narang·Soha Pouya·Shiwei Sheng
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Abstract

We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab combines high-fidelity GPU parallel physics, photorealistic rendering, and a modular, composable architecture for designing environments and training robot policies. Beyond physics and rendering, the framework integrates actuator models, multi-frequency sensor simulation, data collection pipelines, and domain randomization tools, unifying best practices for reinforcement and imitation learning at scale within a single extensible platform. We highlight its application to a diverse set of challenges, including whole-body control, cross-embodiment mobility, contact-rich and dexterous manipulation, and the integration of human demonstrations for skill acquisition. Finally, we discuss upcoming integration with the differentiable, GPU-accelerated Newton physics engine, which promises new opportunities for scalable, data-efficient, and gradient-based approaches to robot learning. We believe Isaac Lab's combination of advanced simulation capabilities, rich sensing, and data-center scale execution will help unlock the next generation of breakthroughs in robotics research.

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NVIDIA, :, Mayank Mittal, Pascal Roth, James Tigue, Antoine Richard, Octi Zhang, Peter Du, Antonio Serrano-Muñoz, Xinjie Yao, René Zurbrügg, Nikita Rudin, Lukasz Wawrzyniak, Milad Rakhsha, Alain Denzler, Eric Heiden, Ales Borovicka, Ossama Ahmed, Iretiayo Akinola, Abrar Anwar, Mark T. Carlson, Ji Yuan Feng, Animesh Garg, Renato Gasoto, Lionel Gulich, Yijie Guo, M. Gussert, Alex Hansen, Mihir Kulkarni, Chenran Li, Wei Liu, Viktor Makoviychuk, Grzegorz Malczyk, Hammad Mazhar, Masoud Moghani, Adithyavairavan Murali, Michael Noseworthy, Alexander Poddubny, Nathan Ratliff, Welf Rehberg, Clemens Schwarke, Ritvik Singh, James Latham Smith, Bingjie Tang, Ruchik Thaker, Matthew Trepte, Karl Van Wyk, Fangzhou Yu, Alex Millane, Vikram Ramasamy, Remo Steiner, Sangeeta Subramanian, Clemens Volk, CY Chen, Neel Jawale, Ashwin Varghese Kuruttukulam, Michael A. Lin, Ajay Mandlekar, Karsten Patzwaldt, John Welsh, Huihua Zhao, Fatima Anes, Jean-Francois Lafleche, Nicolas Moënne-Loccoz, Soowan Park, Rob Stepinski, Dirk Van Gelder, Chris Amevor, Jan Carius, Jumyung Chang, Anka He Chen, Pablo de Heras Ciechomski, Gilles Daviet, Mohammad Mohajerani, Julia von Muralt, Viktor Reutskyy, Michael Sauter, Simon Schirm, Eric L. Shi, Pierre Terdiman, Kenny Vilella, Tobias Widmer, Gordon Yeoman, Tiffany Chen, Sergey Grizan, Cathy Li, Lotus Li, Connor Smith, Rafael Wiltz, Kostas Alexis, Yan Chang, David Chu, Linxi "Jim" Fan, Farbod Farshidian, Ankur Handa, Spencer Huang, Marco Hutter, Yashraj Narang, Soha Pouya, Shiwei Sheng. 2025-11-06. Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning. https://arxiv.org/abs/2511.04831

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