NVIDIA says Isaac Sim does not support GPUs without RT cores, like the H100. That is about rendering. Training does not render: the physics runs on CUDA, so headless RL training works on an H100. And to see what a policy does, you can record the motion on the H100 and watch it in a browser.
The guide is what we run on the lab’s shared H100 servers, for Isaac Lab 2.x and Isaac Sim 5.x:
- Training works with
--headless; the red renderer errors at startup are harmless as long as training starts. - No rendering at all, not even MuJoCo? The server probably has the compute-only NVIDIA driver, which ships without Vulkan and EGL. The full driver fixes it.
- Robot from URDF fails to load? Convert it to USD once on an RTX machine, or use our ready Unitree G1 USD.
SONIC-K1 was trained this way. Scripts are MIT, docs CC BY 4.0, on GitHub.