diff --git a/.github/ISSUE_TEMPLATE/1-bug-report.yml b/.github/ISSUE_TEMPLATE/1-bug-report.yml
new file mode 100644
index 00000000..9551ebdd
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/1-bug-report.yml
@@ -0,0 +1,96 @@
+name: Bug report
+description: Something in GeneLab is broken or misbehaving.
+title: "bug: "
+labels: ["bug"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to report a bug. Please read the
+        [reporting guidelines](https://github.com/KraHsu/GeneLab/blob/main/CONTRIBUTING.md#reporting-issues)
+        first — the **Troubleshooting** section of the [README](https://github.com/KraHsu/GeneLab#readme)
+        already covers several known pitfalls (idle GPU with the default CPU sim backend,
+        Hopper/SM 90 fatbin errors, Wayland viewer failures).
+        Issues are welcome in English or 中文.
+  - type: checkboxes
+    id: preflight
+    attributes:
+      label: Pre-flight checklist
+      options:
+        - label: I searched existing issues (open and closed) and found no duplicate.
+          required: true
+        - label: I checked the README Troubleshooting section — this is not one of the documented pitfalls.
+          required: true
+        - label: The bug does not reproduce in a pure Genesis script without GeneLab. (If unsure, leave unchecked and say so below — simulator bugs belong on the Genesis tracker.)
+          required: false
+  - type: textarea
+    id: what-happened
+    attributes:
+      label: What happened
+      description: What went wrong, and what did you expect instead?
+    validations:
+      required: true
+  - type: textarea
+    id: reproduction
+    attributes:
+      label: Steps to reproduce
+      description: >
+        Exact commands and, if relevant, a minimal config or extension snippet.
+        A single `genelab …` invocation against a registered task is ideal.
+      placeholder: |
+        uv sync --extra torch-cu128
+        genelab train GeneLab-Inverted-Pendulum-v0 --max_iterations 10
+    validations:
+      required: true
+  - type: textarea
+    id: environment
+    attributes:
+      label: Environment
+      description: |
+        Paste the output of
+
+        `python -c "import genelab, genesis, torch; print('genelab', genelab.__version__); print('genesis', genesis.__version__); print('torch', torch.__version__, 'cuda', torch.version.cuda)"`
+
+        plus your OS, GPU model, NVIDIA driver version, and the `torch-*` extra you synced.
+      render: shell
+      placeholder: |
+        genelab 0.4.0
+        genesis 1.2.0
+        torch 2.8.0 cuda 12.8
+        OS: Ubuntu 24.04 · GPU: RTX 4090 · driver 570.xx · extra: torch-cu128
+    validations:
+      required: true
+  - type: dropdown
+    id: rl-backend
+    attributes:
+      label: RL backend
+      description: The backend dispatched by the task's agent config, if the bug involves training/eval.
+      options:
+        - Not applicable
+        - rsl_rl
+        - skrl
+        - stable_baselines3
+    validations:
+      required: true
+  - type: dropdown
+    id: sim-backend
+    attributes:
+      label: Simulation backend
+      description: "`SimulationCfg.gpu` in the task's config (defaults to `False`, the CPU backend)."
+      options:
+        - Not applicable / unknown
+        - CPU (gpu=False, the default)
+        - GPU (gpu=True)
+    validations:
+      required: true
+  - type: textarea
+    id: logs
+    attributes:
+      label: Logs / traceback
+      description: Full, untruncated traceback or relevant log output.
+      render: shell
+  - type: textarea
+    id: extra
+    attributes:
+      label: Anything else
+      description: Workarounds tried, regression window (worked on version X), related issues, …
diff --git a/.github/ISSUE_TEMPLATE/2-feature-request.yml b/.github/ISSUE_TEMPLATE/2-feature-request.yml
new file mode 100644
index 00000000..d8cb0367
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/2-feature-request.yml
@@ -0,0 +1,55 @@
+name: Feature request
+description: Propose a new capability or an improvement to an existing one.
+title: "feat: "
+labels: ["enhancement"]
+body:
+  - type: checkboxes
+    id: preflight
+    attributes:
+      label: Pre-flight checklist
+      options:
+        - label: I searched existing issues (open and closed) and found no duplicate.
+          required: true
+        - label: This belongs in GeneLab — it is not a simulator feature that should go to the Genesis tracker.
+          required: true
+  - type: dropdown
+    id: area
+    attributes:
+      label: Area
+      options:
+        - CLI (train / play / eval / export / benchmark / project)
+        - Registry, configs & extension API
+        - Environments & managers (actions / observations / rewards / events / terminations)
+        - Robots & asset zoo
+        - RL backends (rsl_rl / skrl / stable_baselines3)
+        - Scene, terrains & sensors
+        - Documentation & examples
+        - Other / unsure
+    validations:
+      required: true
+  - type: textarea
+    id: motivation
+    attributes:
+      label: Problem / motivation
+      description: What are you trying to do that GeneLab currently makes hard or impossible? Concrete use cases beat abstract wishes.
+    validations:
+      required: true
+  - type: textarea
+    id: proposal
+    attributes:
+      label: Proposed solution
+      description: What should the API / CLI / behavior look like? A sketch of the config or command line is enough.
+    validations:
+      required: true
+  - type: textarea
+    id: alternatives
+    attributes:
+      label: Alternatives considered
+      description: Workarounds you use today, or designs you rejected and why.
+  - type: checkboxes
+    id: contribution
+    attributes:
+      label: Contribution
+      options:
+        - label: I am willing to open a PR implementing this (see CONTRIBUTING.md for the workflow).
+          required: false
diff --git a/.github/ISSUE_TEMPLATE/3-documentation.yml b/.github/ISSUE_TEMPLATE/3-documentation.yml
new file mode 100644
index 00000000..5585f794
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/3-documentation.yml
@@ -0,0 +1,41 @@
+name: Documentation
+description: Report an error, gap, or unclear passage in the docs.
+title: "docs: "
+labels: ["documentation"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        The rendered site lives at <https://krahsu.github.io/GeneLab/> (English at `/`, 中文 at `/zh/`).
+        Every page exists in both languages and they are kept in lockstep — if only one variant is wrong,
+        say which one.
+  - type: input
+    id: page
+    attributes:
+      label: Page
+      description: URL on the docs site, or the source path under `docs/`.
+      placeholder: https://krahsu.github.io/GeneLab/… or docs/…/page.en.md
+    validations:
+      required: true
+  - type: dropdown
+    id: language
+    attributes:
+      label: Affected language variant
+      options:
+        - Both (content problem)
+        - English page only
+        - 中文 page only
+    validations:
+      required: true
+  - type: textarea
+    id: problem
+    attributes:
+      label: What is wrong or missing
+      description: Quote the passage if possible. For commands/config paths that don't work, include the error you got.
+    validations:
+      required: true
+  - type: textarea
+    id: suggestion
+    attributes:
+      label: Suggested fix
+      description: Optional — proposed wording, or what information the page should add.
diff --git a/.github/ISSUE_TEMPLATE/4-question.yml b/.github/ISSUE_TEMPLATE/4-question.yml
new file mode 100644
index 00000000..00c6e3f8
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/4-question.yml
@@ -0,0 +1,27 @@
+name: Question / help
+description: A usage question the docs and README don't answer.
+title: "question: "
+labels: ["question"]
+body:
+  - type: checkboxes
+    id: preflight
+    attributes:
+      label: Pre-flight checklist
+      options:
+        - label: I checked the [documentation](https://krahsu.github.io/GeneLab/) and the README (including Troubleshooting) and didn't find an answer.
+          required: true
+        - label: I searched existing issues for the same question.
+          required: true
+  - type: textarea
+    id: question
+    attributes:
+      label: Question
+      description: What are you trying to achieve, and where did you get stuck? Include the commands or config you tried.
+    validations:
+      required: true
+  - type: textarea
+    id: environment
+    attributes:
+      label: Environment (if relevant)
+      description: GeneLab / Genesis / torch versions, OS, GPU — see the bug form for the one-liner.
+      render: shell
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
new file mode 100644
index 00000000..bea36be3
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/config.yml
@@ -0,0 +1,8 @@
+blank_issues_enabled: false
+contact_links:
+  - name: GeneLab documentation
+    url: https://krahsu.github.io/GeneLab/
+    about: Guides, how-tos, and API reference — check here before filing a question.
+  - name: Genesis upstream issue tracker
+    url: https://github.com/Genesis-Embodied-AI/Genesis/issues
+    about: Bugs that reproduce in a pure Genesis script without GeneLab belong upstream.
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index aadb1351..1ea6479e 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -1,5 +1,28 @@
 # Contributing to GeneLab
 
+## Reporting issues
+
+Bug reports, feature requests, docs fixes, and questions all go through the
+[issue forms](https://github.com/KraHsu/GeneLab/issues/new/choose) — blank issues are disabled.
+English is preferred; 中文 is fine too.
+
+- **Search first.** Check open *and closed* issues for a duplicate before filing.
+- **One problem per issue.** Two bugs means two issues, even if they were found together.
+- **Check the README Troubleshooting section.** The idle-GPU default (`SimulationCfg.gpu=False`),
+  the Hopper/SM 90 fatbin error, and the Wayland viewer failure are documented pitfalls, not bugs.
+- **Route simulator bugs upstream.** A problem that reproduces in a pure Genesis script without
+  GeneLab belongs on the [Genesis tracker](https://github.com/Genesis-Embodied-AI/Genesis/issues);
+  a cross-link here is welcome if GeneLab is affected too.
+- **Make bugs reproducible.** Include the exact command (ideally a single `genelab …` invocation
+  against a registered task), the full untruncated traceback, and the environment block the bug
+  form asks for — GeneLab / Genesis / torch versions, OS, GPU, driver, and the `torch-*` extra.
+- **Reproduce on the latest release or `main`** when possible — fixes only land there.
+
+The forms apply the primary label (`bug`, `enhancement`, `documentation`, `question`)
+automatically; maintainers add the rest (`duplicate`, `wontfix`, `good first issue`, …) during
+triage. An issue that goes stale waiting for requested information may be closed and can be
+reopened once the information arrives.
+
 ## Development setup
 
 GeneLab uses [uv](https://github.com/astral-sh/uv) and requires Python `>=3.12`. Pick exactly one `torch-*` extra — they are mutually exclusive: