IsaacNPC is a lightweight NPC (Non-Player Character) framework for IsaacLab, enabling robots to act as autonomous environment entities driven by pre-trained policies or rule-based controllers.
It introduces a Null Action mechanism that decouples environment actions from robot control, allowing NPCs to move autonomously without defining explicit action dimensions.
- Exposed action has zero dimensions
- Environment always receives the same null action
- Control logic is executed internally by the NPC
Action is not control.
Controllers can be:
- Pre-trained neural policies
- Rule-based / heuristic systems
- Hybrid approaches
- Zero-dimensional action space
- Plug-and-play NPC configuration
- Controller-agnostic design
- Native IsaacLab integration
- Reusable across environments and robots
cd IsaacNPC
pip install -e .Refer to IsaacNPC/template
Ziang Zheng Tsinghua University
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