AM-Bench¶

AM-Bench is an Isaac Lab extension for configuring and evaluating aerial-manipulation environments, robot profiles, control pipelines, physical effects, datasets, and supported policies. Visit the project website for the research overview, paper, results, media, authors, and contact information.

Get started¶

• Install AM-Bench in the supported Isaac Lab environment.
• Verify the installation with one bounded headless simulation.
• Find an environment by inspecting the live registry.

Use AM-Bench¶

• Run an environment headlessly, with a window, or with video recording.
• Collect demonstrations with a scripted policy or teleoperation.
• Validate a dataset before conversion or training.
• Evaluate a supported policy with ACT, Diffusion Policy, or OpenPI.
• Reproduce a research workflow with an explicit data, training, and evaluation record.

Configure and extend¶

• Configure AM-Bench tasks, scenes, robot profiles, interfaces, controllers, cameras, and physical effects.
• Look up environment IDs, configuration fields, and commands.
• Inspect observations and actions and controllers.
• Inspect dataset formats and evaluation outputs.
• Extend an environment with a task, robot, controller, or policy integration.
• Set up a development environment with editor configuration, formatting, and a local docs build.
• Troubleshoot a failure from the earliest failing layer.
• Report a reproducible issue with the command, environment, revision, and first error.