| # IsaacLab-Arena Environments | |
| [](https://huggingface.co/nvidia/isaaclab-arena-envs) | |
| [Isaac Lab-Arena](https://github.com/isaac-sim/IsaacLab-Arena) is a robotics simulation framework that enhances [NVIDIA IsaacLab](https://github.com/isaac-sim/IsaacLab) by providing a composable, scalable system for creating diverse simulation environments and evaluating robot learning policies. GPU-accelerated simulation environments for robotics learning, compatible with [LeRobot](https://github.com/huggingface/lerobot) and the [EnvHub](https://huggingface.co/docs/lerobot/envhub) ecosystem. | |
| ## Available Environments | |
| The following are example environments built with NVIDIA IsaacLab Arena. The community can create custom environments using the IsaacLab Arena framework: | |
| | Preview | Environment | Description | | |
| | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------- | :------------------------------------------------------------------------------------------------------------------- | | |
| | <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/Gr1OpenMicrowaveEnvironment.png" alt="GR1 Microwave" width="200" /> | `gr1_microwave` | Reach out to the microwave and open it. | | |
| | <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/GalileoPickAndPlaceEnvironment.png" alt="Galileo Pick and Place" width="200" /> | `galileo_pnp` | Pick objects and place in target location | | |
| | <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/GalileoG1LocomanipPickAndPlaceEnvironment.png" alt="G1 Loco-manipulation" width="200" /> | `g1_locomanip_pnp` | Pick up the brown box from the shelf, and place it into the blue bin on the table located at the right of the shelf. | | |
| | <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/KitchenPickAndPlaceEnvironment.png" alt="Kitchen Pick and Place" width="200" /> | `kitchen_pnp` | Kitchen object manipulation tasks | | |
| | <img src="https://huggingface.co/nvidia/isaaclab-arena-envs/resolve/main/assets/PressButtonEnvironment.png" alt="Press Button" width="200" /> | `press_button` | Locate and press button | | |
| ## Quick Start | |
| Evaluate a trained policy e.g. ```SmolVLA```: | |
| ```bash | |
| lerobot-eval \ | |
| --policy.path=nvidia/smolvla-arena-gr1-microwave \ | |
| --env.type=isaaclab_arena \ | |
| --env.hub_path=nvidia/isaaclab-arena-envs \ | |
| --rename_map='{"observation.images.robot_pov_cam_rgb": "observation.images.robot_pov_cam"}' \ | |
| --policy.device=cuda \ | |
| --env.environment=gr1_microwave \ | |
| --env.embodiment=gr1_pink \ | |
| --env.object=mustard_bottle \ | |
| --env.headless=false \ | |
| --env.enable_cameras=true \ | |
| --env.video=true \ | |
| --env.video_length=10 \ | |
| --env.video_interval=15 \ | |
| --env.state_keys=robot_joint_pos \ | |
| --env.camera_keys=robot_pov_cam_rgb \ | |
| --trust_remote_code=True \ | |
| --eval.batch_size=1 | |
| ``` | |
| ## Related Links | |
| - [LeRobot](https://github.com/huggingface/lerobot) - Open-source robotics learning library | |
| - [EnvHub Documentation](https://huggingface.co/docs/lerobot/envhub) - LeRobot environment hub | |
| - [IsaacLab](https://github.com/isaac-sim/IsaacLab) - NVIDIA's robot learning framework | |
| - [IsaacLab Arena](https://github.com/isaac-sim/IsaacLab-Arena) - Community environments for IsaacLab | |