[Question] How to run Hierarchical RL (HIRO) and Isaac Sim Lifecycle Control with IsaacLab RL class like RLGames

[huangjiancong1]

Question

Hierarchical RL (HIRO-style)
How can we implement a HIRO-like hierarchical reinforcement learning setup in IsaacLab (high-level policy for subgoals, low-level policy for control)?
Does IsaacLab or RL-Games support multi-policy training natively, or is a custom environment/training loop required? Any recommended structure or examples would be appreciated.

Build Info

Describe the versions that you are currently using:

• Isaac Lab Version: 2.3.1
• Isaac Sim Version: 5.1.0