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Genesis Forge Tasks

Genesis Forge is a modular RL robotics framework built on the Genesis physics simulator and inspired by the manager-style environment structure used by frameworks such as Isaac Lab.

Genesis Forge is not installed as part of LAV2's default Python dependencies, so you must install Genesis and Genesis Forge separately before using the task package under lav2.tasks.genesis_forge.

How LAV2 Connects To Genesis Forge

LAV2's Genesis Forge integration lives under lav2.tasks.genesis_forge. The primary task to read first is the base task package lav2.tasks.genesis_forge.LAV2_base.

Its environment entrypoint is lav2.tasks.genesis_forge.LAV2_base.environment, and its task terms live under lav2.tasks.genesis_forge.LAV2_base.mdp.

Unlike Isaac Lab, this backend does not require an extra task-registry setup step. Once Genesis Forge and its dependencies are installed, you can directly use the repository entrypoints:

  • lav2/tasks/genesis_forge/LAV2_base/train.py
  • lav2/tasks/genesis_forge/LAV2_base/eval.py

LAV2 Base Task

The base Genesis Forge task follows the same manager-based design idea as the other RL backends in this repository. The environment module wires the backend-specific managed environment, while the mdp package carries the actions, commands, rewards, and related task terms.

The important point is consistency of task layout rather than the exact backend API spelling: LAV2_base remains the main reference task for understanding how LAV2 is expressed in Genesis Forge.

What To Edit

When tuning the Genesis Forge task:

API Cross-References