SO-ARM101 Cube Lifting Policy
This model is a reinforcement learning policy trained for the SO-ARM101 robot arm to perform cube lifting tasks in Isaac Lab.
Model Description
- Task: Lift a cube and bring it to a target position
- Robot: SO-ARM101 (6-DOF robotic arm)
- Framework: Isaac Lab 2.3.0 (on Isaac Sim 5.1.0)
- Algorithm: RSL-RL (Robotic Systems Lab - Reinforcement Learning)
- Environment:
Isaac-SO-ARM101-Lift-Cube-v0 - Training: 1950 iterations with 4096 parallel environments
Training Details
Environment Configuration
- Observation Space: Joint positions, velocities, cube pose, target position
- Action Space: Joint position commands (6 DOF)
- Reward Function: Based on distance to target, cube height, and success criteria
- Episode Length: Variable (task-dependent)
Training Parameters
- Parallel Environments: 4096
- Total Iterations: 1950
- Training Time: ~2 hours on NVIDIA RTX 4080 Super (16GB VRAM)
- Framework: Isaac Lab with RSL-RL runner
- Simulator: Isaac Sim 5.1.0
Hardware Used
- GPU: NVIDIA RTX 4080 Super (16GB VRAM)
- OS: Ubuntu 24.04 LTS
- CUDA: 13.0
Usage
Prerequisites
# Install Isaac Lab (with Docker)
# See: https://isaac-sim.github.io/IsaacLab/
# Clone SO-ARM101 external project
git clone https://github.com/MuammerBay/isaac_so_arm101.git
cd isaac_so_arm101
Evaluation
# Inside Isaac Lab container
cd /workspace/isaaclab
# Run the trained policy
./isaaclab.sh -p /workspace/isaac_so_arm101/src/isaac_so_arm101/scripts/rsl_rl/play.py \
--task Isaac-SO-ARM101-Lift-Cube-Play-v0 \
--checkpoint /path/to/model_1950.pt
Training From Scratch
# Train the policy
./isaaclab.sh -p /workspace/isaac_so_arm101/src/isaac_so_arm101/scripts/rsl_rl/train.py \
--task Isaac-SO-ARM101-Lift-Cube-v0 \
--num_envs 4096 \
--headless
Performance
The trained policy successfully lifts and moves cubes to target positions with high success rate in simulation.
Citation
If you use this model, please cite:
@misc{so-arm101-lift-isaaclab,
title={SO-ARM101 Cube Lifting Policy trained with Isaac Lab},
author={PathOn AI},
year={2026},
howpublished={\url{https://huggingface.co/}},
}
@software{isaaclab,
author = {Mittal, Mayank and others},
title = {Isaac Lab: A Unified Framework for Robot Learning},
url = {https://isaac-sim.github.io/IsaacLab/},
year = {2024},
}
Related Resources
License
MIT License