一份精心编制的列表,包含了伟大的 NVIDIA Issac Gym 框架、论文、软件和资源
A curated collection of resources related to NVIDIA Isaac Gym, a high-performance GPU-based physics simulation environment for robot learning.
March 2024: HumanoidVerse - A Multi-simulator Framework for Humanoid Robot Learning (GitHub)
February 2024: Isaac Lab - A unified and modular framework for robot learning (Website)
February 2024: PhysX 5 SDK release (GitHub)
February 2022: Isaac Gym Preview 4 (1.3.0)
October 2021: Isaac Gym Preview 3
June 2021: NVIDIA Isaac Sim on Omniverse Open Beta
March 23, 2022: GTC 2022 Session — Isaac Gym: The Next Generation — High-performance Reinforcement Learning in Omniverse.
Isaac Gym Overview: Isaac Gym Session.
GTC Spring 2021: Isaac Gym: End-to-End GPU-Accelerated Reinforcement Learning.
Installation & Setup
Basic Concepts
transic: Official Implementation of "TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction" CoRL 2024.
Robot Synesthesia: Official Implementation of "Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing" ICRA 2024.
RLAfford: Official Implementation of "RLAfford: End-to-end Affordance Learning with Reinforcement Learning" ICRA 2023.
Comprehensive tutorial series from RSS 2021 Workshop:
From Point Clouds to Material Graphs: Explore the Latest in Omniverse Create 2021.3
Can We Simulate a Real Robot? — A journey through finding a high-quality physics simulator for a robot quadruped.
Teaching Robots to Walk with Reinforcement Learning — Robot simulation adventure, covering reinforcement learning with the Bittle robot.
Robot Dog Learns to Walk — Bittle Reinforcement Learning Part 3 — Further progress in training robot quadrupeds to walk.
Isaac Sim GTC 2021 — Sim-to-Real: Session on sim-to-real transfer using Isaac Sim.
Isaac Sim Video Tutorials: Official video tutorials.
Training Your JetBot in NVIDIA Isaac Sim: Guide on training JetBot using Isaac Sim.
Training Your NVIDIA JetBot to Avoid Collisions Using NVIDIA Isaac Sim: Blog post on collision avoidance training.
Introducing NVIDIA Isaac Gym: End-to-End Reinforcement Learning for Robotics: Introduction to Isaac Gym.
Accelerating Robotics Simulation with NVIDIA Omniverse Isaac Sim: Blog post on using Omniverse with Isaac Sim.
Developing Robotics Applications in Python with NVIDIA Isaac SDK: Guide on using Isaac SDK with Python.
Building an Intelligent Robot Dog with the NVIDIA Isaac SDK: Tutorial on building a robot dog.
NVIDIA Omniverse YouTube Channel: Official channel with various tutorials and demos.
[ICRA2021] Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections: paper
[2021] DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation: paper
[RSS2021_VLRR] A Simple Method for Complex In-Hand Manipulation: paper, project
[RSS2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion: paper, code
[RSS2022] Rapid Locomotion via Reinforcement Learning: paper, openreview, code
[CoRL2021] Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning: paper, openreview, code, project
[ICRA2021] Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion: project, paper, video
[2021] GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model: project, paper
[CoRL2020] Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion: paper, video, project, blog
[RAL2021] Learning a State Representation and Navigation in Cluttered and Dynamic Environments: paper
HumanoidVerse: A Multi-simulator Framework for Humanoid Robot Learning (2024)
HIMLoco: Hierarchical Imitation Learning for Robust Humanoid Locomotion (2024)
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills (2025)
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