IsaacLab Training

Reusable downstream Isaac Lab training repository for custom task formulations, shared MDP terms, and policy export workflows.

Quick Start

Install the standalone training repo and its pinned Isaac Lab dependency:

git clone https://github.com/ashwinvkNV/IsaacLabTraining.git
cd IsaacLabTraining
uv sync

Verify that Isaac Lab discovers the downstream tasks:

uv run python -c 'import gymnasium as gym; import isaaclab_training.tasks; print([s.id for s in gym.registry.values() if s.id.startswith("IsaacTraining-")])'

Run a small visual training smoke test:

uv sync --group sim

uv run isaaclab train --rl_library rsl_rl \
  --task IsaacTraining-DisplayPortInsertion-Rizon4s-TaskSpace-ROS-Inference \
  --num_envs 4 \
  --max_iterations 100 \
  --visualizer kit

See Setup and Training for the complete install, source-checkout, and headless-training workflow.

Trainable Policies

This repository currently packages DisplayPort cable insertion policies for the Flexiv Rizon 4s arm with a Grav parallel gripper.

Policy	Task ID	Notes
DisplayPort task-space insertion	IsaacTraining-DisplayPortInsertion-Rizon4s-TaskSpace-ROS-Inference	Recommended for real-robot deployment.
DisplayPort joint-space insertion	IsaacTraining-DisplayPortInsertion-Rizon4s-Joint-NoJointVel-ROS-Inference	Deployable joint-position policy without joint velocity in actor observations.
DisplayPort joint-space insertion with velocity	IsaacTraining-DisplayPortInsertion-Rizon4s-Joint-ROS-Inference	Useful for experiments when joint velocity is available.

Use the matching -Play tasks for visualization and evaluation, and the plain non-ROS-inference tasks for ablations you do not intend to deploy directly.

Repository Architecture

The repository separates reusable Isaac Lab infrastructure from concrete task formulations.

Path	Purpose
src/isaaclab_training/mdp/	Shared actions, observations, rewards, events, terminations, and noise models.
src/isaaclab_training/tasks/	Registered task formulations. DisplayPort insertion is the first task.
src/isaaclab_training/cli/	Policy export and policy I/O validation commands.
src/isaaclab_training/export/	LEAPP export helpers used by the generic exporter.
docs/tasks/	Long-form task tutorials and deployment notes.
tests/	Lightweight checks for task registration and export-specific tensor semantics.