isaaclab-arena-envs

liorbenhorin-nv/isaaclab-arena-envs

isaaclab-arena-envs is a machine learning model from liorbenhorin-nv. Use it for the machine learning task on the model card, and read the license before you ship it in a product.

[](https://huggingface.co/nvidia/isaaclab-arena-envs)

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Updated Jan 4, 2026

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Access: Public
Created: Jan 4, 2026
Updated: Jan 4, 2026
SHA: 508e90b2

Model card

From the Hugging Face model README

IsaacLab-Arena Environments

Isaac Lab-Arena is a robotics simulation framework that enhances NVIDIA 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 and the 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:

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