Feasibility of using your method in Isaac Sim 5.1 for humanoid VLA grasping data collection

[dangyang11]

Hello, and thank you for sharing your work. I'm currently exploring ways to build an interactive physics‑simulated environment for humanoid robot data collection.

I would like to kindly ask if your method can be implemented in Isaac Sim 5.1 to achieve such an interactive simulation. My primary goal is to collect Vision‑Language‑Action (VLA) grasping data for humanoid robots.

Could you please offer any guidance or advice on whether this is feasible, and if there are any specific considerations I should be aware of? Your insights would be greatly appreciated.

Thank you in advance for your time and help!

[xshenhan]

Thank you for your interest in our work!

In principle, our method is not tied to a specific Isaac Sim version, so it should be possible to implement it in Isaac Sim 5.1. However, Isaac Sim has introduced several API changes across versions, so some parts of the code may need to be adapted accordingly, particularly the interfaces related to scene setup, robot control, and simulation APIs.

For VLA data collection, including humanoid grasping tasks, we believe the approach should be applicable in principle. One of the main challenges would be integrating the humanoid embodiment and control interface, as well as designing an appropriate privileged policy for interactive data collection. This would likely require some non-trivial engineering effort, but we think it is a very interesting direction to explore.

Hope this helps, and thanks again for your interest!