This repository is a curated list of resources for NVIDIA Isaac Gym, a high-performance, GPU-based physics simulation environment for robot learning. It serves researchers and engineers working on reinforcement learning for robotics, providing frameworks, papers, software, and tutorials to accelerate development and sim-to-real transfer.

How It Works

The collection focuses on leveraging Isaac Gym's massively parallel, GPU-accelerated simulation capabilities for rapid reinforcement learning. It highlights projects that utilize its efficiency for complex tasks like humanoid locomotion, dexterous manipulation, and sim-to-real transfer, often referencing core papers and official NVIDIA resources.

Quick Start & Requirements

• Installation: Primarily involves setting up NVIDIA Isaac Gym and its associated environments (e.g., OmniIsaacGymEnvs). Specific installation instructions are linked within the repository.
• Prerequisites: Requires NVIDIA hardware with CUDA support, compatible drivers, and potentially specific Python versions. Access to Isaac Gym itself may require registration with NVIDIA.
• Resources: Links to official documentation, tutorials, and community forums are provided for detailed setup and usage.

Highlighted Details

• Features official implementations of key research papers in robot manipulation and locomotion.
• Includes resources for advanced topics like sim-to-real transfer, dynamics randomization, and hierarchical imitation learning.
• Curates a wide range of RL frameworks and community projects compatible with Isaac Gym.
• Lists relevant conference talks and video guides for practical application.

Maintenance & Community

The list is actively updated with recent releases and research (e.g., HumanoidVerse, Isaac Lab). Links to community forums and NVIDIA channels are provided. Contributions are welcomed via pull requests.

Licensing & Compatibility

The repository itself is licensed under the MIT License. However, the underlying NVIDIA Isaac Gym software has its own licensing terms, which users must adhere to. Compatibility for commercial use depends on the specific Isaac Gym license.

Limitations & Caveats

This is a curated list of resources, not a software package itself. Users must independently install and configure NVIDIA Isaac Gym and its dependencies, which can be complex and require specific NVIDIA hardware. Some linked projects may be in alpha or beta stages.