Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab combines high-fidelity GPU parallel physics, photorealistic rendering, and a modular, composable architecture for designing environments and training robot policies. Beyond physics and rendering, the framework integrates actuator models, multi-frequency sensor simulation, data collection pipelines, and domain randomization tools, unifying best practices for reinforcement and imitation learning at scale within a single extensible platform. We highlight its application to a diverse set of challenges, including whole-body control, cross-embodiment mobility, contact-rich and dexterous manipulation, and the integration of human demonstrations for skill acquisition. Finally, we discuss upcoming integration with the differentiable, GPU-accelerated Newton physics engine, which promises new opportunities for scalable, data-efficient, and gradient-based approaches to robot learning. We believe Isaac Lab's combination of advanced simulation capabilities, rich sensing, and data-center scale execution will help unlock the next generation of breakthroughs in robotics research.

Stability Selection via Variable Decorrelation

The Lasso is a prominent algorithm for variable selection. However, its instability in the presence of correlated variables in the high-dimensional setting is well-documented. Although previous research has attempted to address this issue by modifying the Lasso loss function, this paper introduces an approach that simplifies the data processed by Lasso. We propose that decorrelating variables before applying the Lasso improves the stability of variable selection regardless of the direction of correlation among predictors. Furthermore, we highlight that the irrepresentable condition, which ensures consistency for the Lasso, is satisfied after variable decorrelation under two assumptions. In addition, by noting that the instability of the Lasso is not limited to high-dimensional settings, we demonstrate the effectiveness of the proposed approach for low-dimensional data. Finally, we present empirical results that indicate the efficacy of the proposed method across different variable selection techniques, highlighting its potential for broader application. The DVS R package is developed to facilitate the implementation of the methodology proposed in this paper.