World Labs acquires robotics simulator SceniX - 2026-07-21 - Article - The deal connects Marble’s generated 3D worlds with robot-data creation, policy training, evaluation and deployment.
The Humanoid Bottleneck Is Leaving the Cage - 2026-06-22 - Article - NVIDIA's Halos launch puts safety infrastructure around physical AI deployment. Agility's Digit is the first humanoid in the system, and the reason why matters more than the platform itself.
Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds - 2026-07-20 - Research Publication - Reinforcement learning (RL), the primary learning-based approach for locomotion, often utilizes a high-performance simulation tool, providing a controlled and efficient training and development environment. The proposed RL… - source: arxiv.org
AeroAct: Action-Centered World-Action Models for Language-Conditioned Quadrotor Flight - 2026-07-16 - Research Publication - The authors present AeroAct, an action-centered world-action model (WAM) for quadrotor navigation. To obtain aligned visual, state, language, and dynamically feasible action data, the authors build a DiffAero-based… - source: arxiv.org
EVIS: A Physics-Grounded Event Camera Plugin for NVIDIA Isaac Sim - 2026-07-09 - Research Publication - However, labeled event-camera data for a specific robot and scene is scarce and expensive to collect, which slows the development of event-based perception and control. The plugin implements a faithful log-intensity… - source: arxiv.org
GPUSimBench: Towards Scalable and Reliable GPU-Accelerated Simulators in Embodied AI - 2026-07-06 - Research Publication - However, as computational throughput scales, the underlying trade-offs between parallel efficiency, physical fidelity, and execution determinism remain largely unexamined, hindering the development of reliable robot… - source: arxiv.org
NavIsaacLab: Generating Realistic Crowd via Parallel Robot Learning for Benchmarking Human-aware Navigation - 2026-06-24 - Research Publication - Existing simulation platforms often rely on handcrafted rules to approximate pedestrian behavior and lack the capability to provide extensive sensor signals, typically assuming perfect observations. Based on Isaac Lab, the… - source: arxiv.org
TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer - 2026-06-17 - Research Publication - Tactile sensing provides direct measurements of contact interactions that are essential for robotic manipulation. Finally, the authors release an efficient Warp-based implementation of a penalty-based tactile simulation… - source: arxiv.org
Steering Generative Reinforcement Learning into Stable Robotic Controller - 2026-06-15 - Research Publication - SteerGenPO replaces stochastic diffusion-policy sampling with a learned state-conditioned latent actor for stable deterministic control at deployment. The method is evaluated on six Isaac Lab benchmarks and a Unitree G1… - source: arxiv.org
Dual-critic humanoid loco-manipulation paper trains Unitree G1 policies in NVIDIA Isaac Lab - 2026-06-10 - Research Publication - The paper compares unified and dual critic architectures for humanoid loco-manipulation reinforcement learning. Experiments train Unitree G1 policies through a 13-level curriculum in NVIDIA Isaac Lab. - source: arxiv.org
GPU-Parallel Multi-Task Reinforcement Learning with Demonstration Guided Policy Optimization - 2026-06-02 - Research Publication - The authors propose a construction methodology for turning structured manipulation task families into GPU-parallel multi-task RL benchmarks, and instantiate it as MT-Libero using LIBERO assets and task predicates in Isaac… - source: arxiv.org
Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning - 2026-05-29 - Research Publication - The authors present BARD (Batched Articulated Rigid-body Dynamics), a self-contained PyTorch implementation of Featherstone's rigid-body dynamics algorithms, optimized for batched GPU evaluation and automatic… - source: arxiv.org
VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction - 2026-05-26 - Research Publication - The authors present VR-DAgger, a human-in-the-loop framework centered on an immersive VR application for dexterous teleoperation, demonstration collection, and selective policy correction. The authors use Monte Carlo (MC)… - source: arxiv.org
TienKung-Lab: Direct IsaacLab Workflow for TienKung - 2026-05-23 - Research Publication - The codebase is built on IsaacLab, supports Sim2Sim transfer to MuJoCo, and features a modular architecture for seamless customization and extension. Warp: a Python framework for writing high-performance simulation and… - source: github.com
Robotic Strawberry Harvesting with Robust Vision and Deep Reinforcement Learning based Sim-to-Real Control - 2026-05-22 - Research Publication - This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For control, the… - source: arxiv.org
CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation - 2026-05-21 - Research Publication - The authors present CoRMA(Contrastive Robotic Motor Adaptation), a context-based meta-adaptation framework that modifies RMA for force-dominant assembly. The authors evaluate CoRMA on PegInsert, GearMesh, and NutThread in… - source: arxiv.org
parallelcbf: A composable safety-filter and auditability framework for tensor-parallel reinforcement learning - 2026-05-15 - Research Publication - ParallelCBF unifies tensor-parallel UAV environments, control-barrier-function safety filters, behavior-cloning-to-RL pipelines, and operational auditability. The release includes a CPU PyTorch reference implementation… - source: arxiv.org
SceneFactory: GPU-Accelerated Multi-Agent Driving Simulation with Physics-Based Vehicle Dynamics - 2026-05-08 - Research Publication - The authors introduce SceneFactory, a GPU-vectorized platform for procedural scene construction, physics-based multi-agent simulation, and RL in autonomous-driving environments. Built on NVIDIA Isaac Sim + Isaac Lab… - source: arxiv.org
GR00T-VisualSim2Real: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation - 2026-04-30 - Research Publication - Open-source pipeline for visual sim-to-real transfer of humanoid locomotion and manipulation skills. Includes training code, simulation assets, and workflows for learning behaviors such as walking and object interaction.… - source: github.com
Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion - 2026-04-26 - Research Publication - The study proposes AWARE, Adaptive Wheeled-Legged Avoidance and Reflexive Evasion, a hierarchical reinforcement learning framework for high-dynamic obstacle avoidance in wheeled-legged robots. Extensive experiments in… - source: arxiv.org
PriPG-RL paper validates planner-guided reinforcement learning with NVIDIA Isaac Lab - 2026-04-09 - Research Publication - PriPG-RL combines privileged planner guidance with reinforcement learning for partially observable systems with anytime-feasible MPC. The authors validate the method in NVIDIA Isaac Lab and deploy it on a real Unitree Go2… - source: arxiv.org
Agent-Driven Autonomous Reinforcement Learning Research: Iterative Policy Improvement for Quadruped Locomotion - 2026-03-28 - Research Publication - A human provided high-level directives through an agentic coding environment, while an agent carried out most of the execution loop: reading code, diagnosing failures, editing reward and terrain configurations, launching… - source: arxiv.org
Evaluating Factor-Wise Auxiliary Dynamics Supervision for Latent Structure and Robustness in Simulated Humanoid Locomotion - 2026-03-22 - Research Publication - A 2x2 factorial ablation (n = 10 seeds) isolates the contributions of the tanh bottleneck and auxiliary losses: the auxiliary losses show no measurable effect on either in-distribution (ID) reward (+0.03, p = 0.732) or… - source: arxiv.org
PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors - 2026-03-19 - Research Publication - Comprehensive experiments across terrains of varying difficulty-including stairs, boxes, and gaps-demonstrate that each component yields complementary and essential performance gains, with the full framework achieving a… - source: arxiv.org