Research framework · Built on Genesis

GeneLab

Isaac Lab-shaped primitives for RL and robotics research, running on the Genesis simulator. Small registries, manager-based MDP, explicit Genesis backend — a stable package layout and CLI for downstream robotics projects.

Start the tutorial View on GitHub

~/genelab

$ genelab list tasks

  Registered tasks (4 discovered)
  ──────────────────────────────────────────────────────
  GeneLab-Inverted-Pendulum-v0          trainable
  GeneLab-Double-Inverted-Pendulum-v0   trainable
  Genelab-Velocity-Flat-Unitree-G1-v0   trainable
  Genelab-Tracking-Flat-Unitree-G1-v0   trainable

$ genelab play GeneLab-Inverted-Pendulum-v0 --vis

Quick start

• 01 Tutorial

  ---

  Build the first robot experiment, then continue to Unitree G1.

  Tutorial →

• 02 Install

  ---

  Set up uv, pick a torch-* extra, and verify the CLI.

  Installation →

• 03 CLI

  ---

  play, train, project new, and the dotted override grammar.

  CLI overview →

• 04 Extend

  ---

  Write a downstream extension that registers robots, envs, and tasks.

  Extensions →

Abilities

• DiscoverRegister and inspect robots, environments, and tasks from installed or explicit extensions.
• ComposeBuild Genesis scenes from robot assets, rigid objects, terrains, sensors, and recordings.
• Shape MDPsDefine actions, commands, observations, rewards, terminations, events, curricula, and metrics as named terms.
• RunUse one CLI for headless rollouts, viewer playback, config overrides, and task introspection.
• TrainLaunch RSL-RL PPO runs, checkpoint replay, profiler traces, and multi-GPU training.
• ExtendKeep downstream robot projects in independent Python packages with entry-point discovery.