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@kellyguo11 kellyguo11 released this 24 Apr 15:13
· 4 commits to main since this release
v2.1.0
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Learn about vigilant mode.

👀 Overview

This release introduces the official support for teleoperation using the Apple Vision Pro for collecting high-quality and dexterous hand data, including the addition of bi-manual teleoperation and imitation learning workflows through Isaac Lab Mimic.

We have also introduced new randomization methods for USD attributes, including the randomization of scale, color, and textures. In this release, we updated RSL RL to v2.3.1, which introduces many additional features including distributed training, student-teacher distillation, and recurrent student-teacher distillation.

Additionally, we revamped the Extension Template to include an automatic template generator tool from within the Isaac Lab repo. The extension template is a powerful method for users to develop new projects in user-hosted repos, allowing for isolation from the core Isaac Lab repo and changes. The previous IsaacLabExtensionTemplate repo showed a limited example pertaining only to the Manager-based workflow and RSL RL. In the new template generator, users can choose from any supported workflow and RL library, along with the desired RL algorithm. We will be deprecating the standalone IsaacLabExtensionTemplate in the near future.

NVIDIA has also released HOVER as an independent repo, hosting a neural whole body controller for humanoids built on top of Isaac Lab. HOVER includes sim-to-real workflows for deployment on the Unitree H1 robot, which we have also added a tutorial guide for the deployment process in the Isaac Lab documentation.

Full Changelog: v2.0.2...v2.1.0

🔆 Highlighted Features

gr-1_pick_place

cloudxr_bimanual_teleop.mp4
TextureRandomization.webm

✨ New Features

  • Adds new external project / internal task template generator by @Toni-SM in #2039
  • Adds dummy agents to the external task template generator by @louislelay in #2221
  • Adds USD-level randomization mode to event manager by @Mayankm96 in #2040
  • Adds texture and scale randomization event terms by @hapatel-bdai in #2121
  • Adds replicator event for randomizing colors by @Mayankm96 in #2153
  • Adds interactive demo script for H1 locomotion by @kellyguo11 in #2041
  • Adds blueprint environment for Franka stacking mimic by @chengronglai in #1944
  • Adds action clipping to rsl-rl wrapper by @Mayankm96 in #2019
  • Adds Gymnasium spaces showcase tasks by @Toni-SM in #2109
  • Add configs and adapt exporter for RSL-RL distillation by @ClemensSchwarke in #2182
  • Adds support for head pose for Open XR device by @rwiltz
  • Adds handtracking joints and retargetting pipeline by @rwiltz
  • Adds documentation for openxr device and retargeters by @rwiltz
  • Adds tutorial for training & validating HOVER policy using Isaac Lab by @pulkitg01
  • Adds rendering mode presets by @matthewtrepte
  • Adds GR1 scene with Pink IK + Groot Mimic data generation and training by @ashwinvkNV
  • Adds absolute pose franka cube stacking environment for mimic by @rwiltz
  • Enables CloudXR OpenXR runtime container by @jaczhangnv
  • Adds a quick start guide for quick installation and introduction by @mpgussert

🔧 Improvements

  • Clarifies the default parameters in ArticulationData by @Mayankm96 in #1875
  • Removes storage of meshes inside the TerrainImporter class by @Mayankm96 in #1987
  • Adds more details about state in InteractiveScene by @Mayankm96 in #2119
  • Mounts scripts to docker container by @Mayankm96 in #2152
  • Initializes manager term classes only when sim starts by @Mayankm96 in #2117
  • Updates to latest RSL-RL v2.3.0 release by @Mayankm96 in #2154
  • Skips dependency installation for directories with no extension.toml by @jsmith-bdai in #2216
  • Clarifies layer instructions in animation docs by @tylerlum in #2240
  • Lowers the default number of environments for camera envs by @kellyguo11 in #2287
  • Updates Rendering Mode guide in documentation by @matthewtrepte
  • Adds task instruction UI support for mimic by @chengronglai
  • Adds ExplicitAction class to track argument usage in AppLauncher by @nv-mhaselton
  • Allows physics reset during simulation by @oahmednv
  • Updates mimic to support multi-eef (DexMimicGen) data generation by @nvcyc

🐛 Bug Fixes

🤗 New Contributors

Contributors

vi3itor, kellyguo11, and 26 other contributors
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