AGILE v1.3.0#

Summary#

AGILE v1.3.0 updates the framework to Isaac Lab 3.0.0-beta2, adopts a uv-native installation workflow, standardizes policy deployment around LEAPP, and expands the evaluation pipeline.

User-visible changes#

  • Updated the supported Isaac Lab version from 2.3.2 to 3.0.0-beta2.

  • Made the repository installable and runnable as a uv project.

  • Replaced the legacy I/O descriptor export with LEAPP policy-bundle export. Sim2MuJoCo now loads and evaluates the same LEAPP bundles used for deployment.

  • Refactored the evaluation tooling into a shared pipeline for local and remote evaluation. The pipeline now supports per-task evaluation specifications, deterministic scenarios, batch evaluation, trajectory logging, videos, and interactive HTML reports.

  • Renamed task IDs to distinguish teacher and student policies and to use a consistent <Task>-<Robot>-<Variant>-v0 convention.

  • Updated RSL-RL to 5.4.1.

  • Updated all shipped task configurations to use delayed DC motor actuator models.

Upgrade notes#

  • Create a fresh environment and install the project with uv; environments created for Isaac Lab 2.3.2 are not supported by this release.

  • Replace legacy I/O descriptor export commands and artifacts with LEAPP export and LEAPP policy bundles.

  • Update task IDs in training commands, evaluation manifests, and automation:

    Previous task ID

    v1.3.0 task ID

    Velocity-G1-v0

    Velocity-G1-Teacher-v0

    Velocity-Height-G1-v0

    Velocity-Height-G1-Teacher-v0

    Velocity-Height-G1-Distillation-Recurrent-v0

    Velocity-Height-G1-Student-Recurrent-v0

    Velocity-Height-G1-Distillation-History-v0

    Velocity-Height-G1-Student-History-v0

    G1-PickPlace-Tracking-v0

    PickPlace-G1-v0

    G1-PickPlace-Tracking-v0-Debug

    PickPlace-G1-Debug-v0

    G1-PickPlace-Tracking-v0-Record

    PickPlace-G1-Record-v0

    G1-PickPlace-Tracking-v0-GR00T-Inference

    PickPlace-G1-GR00T-Inference-v0

    Tracking-Flat-G1-v0

    MotionTracking-G1-v0

  • Revalidate or retrain policies that were trained with the previous actuator configurations before deployment.

Known limitations#

  • Isaac Lab 3.0.0-beta2 is a prerelease and may change before the final Isaac Lab 3.0 release.

  • Automated Sim2MuJoCo evaluation is not available for PickPlace-G1-v0.