Industry’s first Robotic AI Development Platform with Simulation, Navigation and Manipulation.

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Artificial Intelligence

GPU-accelerated algorithms and DNNs for perception and planning; ML workflows for supervised learning as well as reinforcement learning.

Navigation and Manipulation

Modular robotic algorithms that provide sensing, planning, or actuation for both navigation and manipulation use cases.

Simulation

Accelerate robot development & deployment using training and continuous testing in high fidelity physics and photorealistic simulation.




The SDK includes the Isaac Engine (application framework), Isaac GEMs (packages with high-performance robotics algorithms), Isaac Apps (reference applications) and Isaac Sim (a powerful simulation platform). These tools and APIs accelerate robot development by making it easier to add artificial intelligence (AI) for perception and navigation into robots.




Isaac SDK runs on and is optimized for NVIDIA® Jetson AGX Xavier™ systems. Jetson AGX systems provide the performance and power efficiency to run autonomous machines software, faster and with less power. The Jetson platform is supported by the JetPack SDK, which includes NVIDIA CUDA®, DeepStream SDK, libraries for deep learning, computer vision, accelerated computing, and multimedia. The platform supports drivers for a wide range of sensors.

Isaac SDK uses machine learning and continuous testing workflows with Isaac Sim running on NVIDIA® DGX™ Systems. Developed to meet the demands of AI and analytics, NVIDIA® DGX™ Systems are built on the revolutionary NVIDIA Volta™ GPU platform. Combined with innovative GPU-optimized software and simplified management tools, these fully-integrated solutions are designed to give data scientists the most powerful tools for AI and ML.



The Isaac Engine is a software framework to easily build modular robotics applications. It enables high-performance data processing and deep learning for intelligent robots. Robotics applications developed on Isaac Robot Engine can seamlessly run on edge devices like the NVIDIA® Jetson AGX Xavier™ and NVIDIA® Jetson Nano™, as well as on a workstation with a discrete NVIDIA® GPU like T4.



Computational Graph

Compute Graph & Entity Component Architecture

  • Isaac Engine helps break down complex robotics use case into smaller building blocks, and customize by configuring pre-packaged components
  • Avoid host-device memory copies, increase application performance by attaching CUDA buffer objects to messages
  • Group nodes into subgraphs, effectively combine them into a robotics application




Tools for visualization, record, replay and more

  • The Isaac Robot Engine also comes with a customizable visualization framework to create visualizations for variable plots, drawings, camera image overlays, or 3D scenes.
  • Developers can use Isaac WebSight to inspect and debug their robotics applications in a web browser
"Isaac WebSight" application




Python API

  • Write fully functional Isaac codelets in Python
  • Leverage Isaac C++ and high performance GEMs in your Python application
  • Manage any Isaac application from a Jupyter Notebook


Get Started with Isaac SDK



GEMs are modular capabilities for sensing, planning, or actuation that can be easily plugged into a robotics application. For example, developers can add obstacle detection, stereo depth estimation, or human speech recognition to enrich their robot use cases. Similarly, developers can use the Isaac navigation stack, a collection of modules to build a robotics navigation application, to their robot.



Highlights of Isaac 2020.1
3D Object Pose Estimation (navigation use-case)

An updated 3D pose estimation pipeline consisting of object detection followed by 3D pose estimation, and then followed by pose refinement using depth image.


This video shows detection and pose estimation of a dolly for a warehouse robot to drive under and pick.


3D Object Pose Estimation (manipulation use-case)

An updated 3D pose estimation pipeline consisting of object detection followed by 3D pose estimation, and then followed by pose refinement using depth image.


This video shows detection and pose estimation of a container a cobot to use an end effector to pick and place.


Manipulator Motion Planning

Fast and smooth motion control for manipulators.



This video shows a cobot picking KLT containers and placing them properly using the Motion Planning algorithm.





Navigation Planner with costmaps

Ability to customize graphs, in an open space (like a factory) where robots can use optimal path.

This video shows a robot operating in lanes (optimal path) rather than taking the shortest paths, which are ‘costly’.



Stereo Visual Inertial Odometry

Track 3D pose of the camera by analyzing stereo image video stream and IMU.

This video shows the fusion of IMU and visual odometry.





Multi-LiDAR Localization

360 perception for localization for increased robustness in ambiguous environments and reduced location uncertainty.

This self explanatory video shows the benefit of having two lidars for localization

Multi-LiDAR Obstacle Avoidance

360 perception for obstacle avoidance.

This video shows the benefit of having two lidars for collision avoidance.
Support for new sensors

SICK Microscan3 Pro Lidar*
LIPS AE400 Stereo Camera*







*Note: The HW driver is not integrated with Isaac SDK 2020.1; please contact the vendor for the Isaac SDK Driver.
Support for new robot platforms

Unitree Laikago
Franka Emika Panda*
Universal Robots UR10*







*Note: The HW driver is not integrated with Isaac SDK 2020.1; please contact the vendor for the Isaac SDK Driver.

Main GEMS from prior releases.
Multi Class Segmentation DNN

Deep Neural Network (DNN) segmentation of images into classes of interest like drivable space and obstacles.

This video shows a DNN performing the segmentation of multiple classes including collision free space.

Object Detection (ResNet)

Object detection using ResNet backbone feature extractor. NVIDIA Transfer Learning Toolkit (TLT) is used to train/fine-tune/prune models.

This video shows the result of object detection from a DNN trained using NVIDIA transfer learning toolkit (TLT)
2D Skeleton Pose Estimation DNN

Real-time detection of human pose using OpenPose DNN as a backbone.




This video shows sensor fusion from RGB + Depth + Pose Sensor. 3D skeleton visualization in bottom right; 2D skeleton reprojection to 3D from the depth camera.

DeepStream Integration

Integration of DeepStream streaming analytics toolkit for AI-based video/image perception.


Superpixels

An efficient low/mid-level representation of image data, which greatly reduces the number of image primitives for subsequent vision tasks.



AprilTags (Fiducial)

GPU Accelerated AprilTag detection offers nearly 20x speed up.



Robot Platforms/Motors
  • Differential Wheelbase (Segway RMP210)
  • Servo Motors (Dynamixel)


Sensors
  • Stereo Camera (Zed)
  • Structured Light Depth Camera (RealSense)
  • Lidar (Velodyne VLP16)
  • IMU (Bosch Sensortec BMI160)
More
  • Stereo Depth DNN
  • DeepStream for Robotics
  • ORB Feature Tracker
  • Image Warping

For a detailed list of GEMs visit Isaac SDK Documentation.



Get Started with Isaac SDK


Highlights of Isaac 2020.1

Navigation: Docking App

Video showing an autonomous mobile robot (modeled in Isaac Sim) detecting and estimating the pose of a dolly using neural networks, driving under it and lifting/moving it autonomously.

Manipulation: Pick and Place App

Video showing a collaborative robot (modeled in Isaac Sim) detecting and estimating the pose of KLT containers using neural networks; picking and placing them autonomously.





Navigation: Reinforcement Learning App (training)

Video showing the use the factory of the future simulation asset to train the robot to dock under Dolly.



Navigation: Reinforcement Learning App (inference)

Video showing the use the factory of the future simulation asset to try out the network trained using Reinforcement Learning application.



Containerized Application for Training using Sim

Video showing how simple it is to train an object detection network using Transfer Learning Toolkit with a dataset generated from a simulation.


Link to NGC

Laikago: The robot on four legs!

Video showing the upgraded quadruped robot built using Kaya as a reference; showing its ability as an autonomous machine that can navigate and avoid obstacles.




More Tutorials & Samples: https://docs.nvidia.com/isaac/isaac/doc/getting_started.html#tutorials-and-sample-applications

Blog: Building an Intelligent Robot Dog with the NVIDIA Isaac SDK



Isaac Apps from prior releases

Carter: The indoor delivery robot

Carter is an Isaac SDK reference robot platform for autonomous indoor delivery and logistics based on the NVIDIA Jetson platform. Developers can build their own Carter robot using sample applications. With the NVIDIA Isaac SDK, developers can add capabilities for localization, autonomous navigation, map edition, path planning, and state machines. Some of the included apps are Map Creation, Map Waypoint, Pose, Patrol, Random.


Documentation & Assembly Instructions


Kaya: To get started with Isaac SDK

People who would like to get started with Isaac SDK can build their own small robot platform using the Kaya reference robot platform. Kaya can be built using off-the-shelf components and 3D printed parts. The low-cost Kaya robot takes advantage of the new NVIDIA® Jetson Nano™. Samples applications built for the platform include April tag detection, obstacle avoidance, remote operation, object classification based on Yolo and much more. Some of the included apps are Follow-me, Mapping, Detect/Classify, etc.

Documentation & Assembly Instructions

Kaya 3D Printable Parts

Isaac Sim is a virtual robotics laboratory and a high-fidelity 3D world simulator that accelerates research, design, and development by reducing cost and risk.

Isaac Sim includes features like Domain Randomization (scene parameter control) and Scenario Management (rapidly testing robots in different scenarios). Robots can be simulated with virtual sensors (RGB, stereo, depth, LIDAR, IMU). Robots in Isaac Sim are tightly coupled to the tools and frameworks in Isaac SDK, enabling easy transfer of algorithms and data between physical and virtual robots.


Factory of the Future
Video shows the 3D environment of a factory of the future. Assets are designed in a modular way to enable creation of random factory layouts and object placement. This environment is used to train DNNs and test multiple robots in a simulated environment.




Domain Randomization (for supervised learning)
Domain randomization showing random changes in material (texture, color), light direction, light conditions, sunlight changes, placement of objects/obstacles, floor etc. to train robot perception/behavior as well as testing for robust behavior in real life.



Domain Randomization (for reinforcement learning)
Randomization of the state of multiple agents for reinforcement learning. The agent is a BMW STR, and the environment is a factory with static obstacles + a dolly.






ML Training in Simulation (Pose Estimation)




Video showing training of pose estimation pipeline using ML workflows possible with Isaac SDK.
Multi Robot Simulation (HIL)
Multiple Carter robots operating simultaneously in virtual warehouse. Each operated by an independent Jetson Xavier.

Download Isaac Sim for Navigation

To get more information and to register for Early Access to Isaac Sim 2020.1 (for manipulation) click here.


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