AutoDataGen

AutoDataGen: An automated data generation pipeline based on NVIDIA Isaac Lab

An automated simulation data generation pipeline built on Isaac Lab, integrating LLM-based task decomposition, motion planning, and navigation capabilities.

Overview

AutoDataGen provides an extensible automated data generation pipeline for NVIDIA Isaac Lab environments:

• Starting from task code and scene information, it uses an LLM to decompose high-level tasks automatically.
• Maps the decomposition result into a sequence of atomic skills.
• Invokes motion planning (based on cuRobo) and navigation to execute these skills in simulation.
• Produces unified action sequences / trajectory data for downstream robot learning and research.

In short: AutoDataGen helps you automatically turn “a task in Isaac Lab” into an executable sequence of skills, and generates data that can be used for training or evaluation.

Installation

Below is a typical setup workflow.

AutoDataGen uses autosim as a Python package to organize the code. autosim can be installed as a submodule within an environment that already includes Isaac Lab.

conda create -n AutoDataGen python=3.12

conda activate AutoDataGen

git clone https://github.com/LightwheelAI/AutoDataGen.git

cd AutoDataGen

git submodule update --init --recursive

IsaacLab Installation

AutoDataGen depends on Isaac Lab. You can follow the official installation guide here, or use the commands below. If you already have an environment with Isaac Lab installed, you can reuse it and skip this step.

# Install uv
pip install uv

# Install CUDA toolkit
conda install -c "nvidia/label/cuda-12.8.1" cuda-toolkit

# Install PyTorch
uv pip install -U torch==2.10.0 torchvision==0.25.0 --index-url https://download.pytorch.org/whl/cu128

# Install IsaacSim
uv pip install "isaacsim[all,extscache]==6.0.0" --extra-index-url https://pypi.nvidia.com

# Install IsaacLab
sudo apt install cmake build-essential

cd dependencies/IsaacLab
./isaaclab.sh --install

⚠️ The installation of Isaac Lab is relatively involved. Please follow the official documentation carefully. This repository only works on top of a correctly configured Isaac Lab environment.

cuRobo Installation

Some skills in autosim depend on cuRobo. You can follow the official documentation, or use the commands below:

cd dependencies/curobo

uv pip install -e . --no-build-isolation

autosim Installation

Finally, install autosim into your environment:

uv pip install -e source/autosim

Quick Start

Run the Example Pipeline (Franka Cube Lift)

After completing the installation and configuration steps above, you can directly run the built-in example.

First, install the autosim_examples package:

uv pip install -e source/autosim_examples

Then launch the example with:

cd autosim

python examples/run_autosim_example.py \
  --pipeline_id AutoSimPipeline-FrankaCubeLift-v0 \
  --viz kit

After launching, you will see in the Isaac Sim UI that the manipulator automatically executes the Cube Lift task.

Defining Your Own Pipeline

For a task that has already been defined in Isaac Lab, you can use autosim to define a custom AutoSimPipeline for it. A typical workflow looks like this:

1. Implement a config class

Inherit from AutoSimPipelineCfg and adjust components as needed:

• decomposer (e.g., using a different LLM or prompt template)
• motion_planner (e.g., different robot model or planner parameters)

• skills / action_adapter, etc.

• Implement the pipeline class

Inherit from AutoSimPipeline and implement:

• load_env(self) -> ManagerBasedEnv: load the environment using Isaac Lab; this environment should correspond to the pre-defined task.

• get_env_extra_info(self) -> EnvExtraInfo: provide the task name, robot name, end-effector link, and reach targets expressed as poses relative to objects, etc.

• Register the pipeline in the package’s __init__.py

For example:

```python from autosim import register_pipeline

register_pipeline( id="MyPipeline-v0", entry_point="my_package.pipelines.my_pipeline:MyPipeline", cfg_entry_point="my_package.pipelines.my_pipeline:MyPipelineCfg", ) ```

1. Use it from a script or external project

```python from autosim import make_pipeline

pipeline = make_pipeline("MyPipeline-v0") output = pipeline.run() ```

You can refer to source/autosim_examples/autosim_examples/autosim/pipelines/franka_lift_cube.py for a minimal working example.

Using with LW-BenchHub

LW-BenchHub includes several usage examples of AutoDataGen. You can try them by following the steps below.

First, set up the LW-BenchHub environment according to its documentation, and then install autosim into that environment. Since Isaac Lab has already been installed in the previous step, you only need to complete the cuRobo Installation and autosim Installation steps above.

Then you can launch it with:

cd lw_benchhub

python scripts/autosim/run_autosim_example.py --pipeline_id=LWBenchhub-Autosim-CoffeeSetupMugPipeline-v0 --viz kit

We also support tasks such as CheesyBread, CloseOven, OpenFridge, and KettleBoiling. You can find the corresponding implementations in LW-BenchHub.

Contributing

Issues, feature requests, and pull requests are all welcome!

Before submitting contributions, we recommend:

• First verify that the example pipeline runs correctly in your local environment.
• Follow the existing code style in this repository (Black + isort, see the root pyproject.toml).
• Whenever possible, add tests or minimal reproducible examples for new features or bug fixes.

Acknowledgements

autosim is built on top of the following excellent open-source projects:

• cuRobo: GPU-accelerated robot motion planning.
• Isaac Lab: NVIDIA’s framework for robot simulation and reinforcement learning.
• And other dependencies and upstream projects used in this repository.

We sincerely thank the authors and communities behind these projects.