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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; Yuke Zhu; Miles Macklin; Adam Moravanszky; Philipp Reist; Yunrong Guo; David Hoeller; Gavriel State

arXiv:2511.04831 4:12 CC BY 4.0 · adaptation, not endorsed by the authors Source checked · visual review incomplete

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Based on “Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning” by 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; Yuke Zhu; Miles Macklin; Adam Moravanszky; Philipp Reist; Yunrong Guo; David Hoeller; Gavriel State · arXiv:2511.04831 · CC BY 4.0 · licence checked 2026-10-27 · Changed from the original: rewritten as a narrated walkthrough with slides, using the paper's own figures. An adaptation, not endorsed by its authors.

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