diff --git a/.github/actions/install-ci-run/action.yml b/.github/actions/install-ci-run/action.yml
index e099be41e561..c7b13c23fbfd 100644
--- a/.github/actions/install-ci-run/action.yml
+++ b/.github/actions/install-ci-run/action.yml
@@ -54,3 +54,10 @@ runs:
         path: ${{ github.workspace }}/results/results.xml
         if-no-files-found: ignore
         retention-days: 7
+
+    - name: Upload omni-github test results
+      if: always()
+      uses: ./.github/actions/upload-omni-github-test-results
+      with:
+        junit-file: ${{ github.workspace }}/results/results.xml
+        artifact-prefix: pytest-results-${{ github.job }}-${{ runner.arch }}
diff --git a/.github/actions/run-package-tests/action.yml b/.github/actions/run-package-tests/action.yml
index 264e01a158b8..4f4df2487166 100644
--- a/.github/actions/run-package-tests/action.yml
+++ b/.github/actions/run-package-tests/action.yml
@@ -150,6 +150,7 @@ runs:
         include-files: ${{ inputs.include-files }}
         volume-mount-source: ${{ github.workspace }}
         extra-pip-packages: ${{ inputs.extra-pip-packages }}
+        omni-github-artifact-prefix: pytest-results-${{ github.job }}-${{ inputs.container-name }}
 
     - name: Check Test Results
       if: always()
diff --git a/.github/actions/run-tests/action.yml b/.github/actions/run-tests/action.yml
index ceea3a1c4e65..925045f3f251 100644
--- a/.github/actions/run-tests/action.yml
+++ b/.github/actions/run-tests/action.yml
@@ -69,6 +69,10 @@ inputs:
     description: 'Space-separated pip packages to install inside the Docker container before pytest starts'
     default: ''
     required: false
+  omni-github-artifact-prefix:
+    description: 'Optional human-readable prefix for the omni-github test-result artifact'
+    default: ''
+    required: false
 
 runs:
   using: composite
@@ -437,6 +441,13 @@ runs:
         if-no-files-found: ignore
         retention-days: 7
 
+    - name: Upload omni-github test results
+      if: always()
+      uses: ./.github/actions/upload-omni-github-test-results
+      with:
+        junit-file: ${{ inputs.reports-dir }}/${{ inputs.result-file }}
+        artifact-prefix: ${{ inputs.omni-github-artifact-prefix || format('pytest-results-{0}-{1}', github.job, inputs.container-name) }}
+
     - name: Clean up Docker container
       if: always() && !cancelled()
       shell: bash
diff --git a/.github/actions/upload-omni-github-test-results/action.yml b/.github/actions/upload-omni-github-test-results/action.yml
new file mode 100644
index 000000000000..d00071829483
--- /dev/null
+++ b/.github/actions/upload-omni-github-test-results/action.yml
@@ -0,0 +1,120 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: 'Upload omni-github test results'
+description: >
+  Converts a JUnit XML report into the omni-github test-result artifact
+  contract and uploads it with the current GitHub repository identity.
+
+inputs:
+  junit-file:
+    description: 'Path to the JUnit XML report to convert'
+    required: true
+  artifact-prefix:
+    description: 'Human-readable artifact prefix; normalized before upload'
+    required: true
+  test-tool-id:
+    description: 'Identifier for the test runner that produced the JUnit report'
+    default: 'pytest'
+    required: false
+  test-type:
+    description: 'Test type stored on each converted test row'
+    default: 'pytest'
+    required: false
+  app-platform:
+    description: 'omni-github app.platform value; defaults from runner OS and architecture'
+    default: ''
+    required: false
+  app-config:
+    description: 'omni-github app.config value; defaults to the GitHub job id'
+    default: ''
+    required: false
+  retention-days:
+    description: 'GitHub artifact retention in days'
+    default: '7'
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Convert JUnit XML to omni-github results
+      id: convert
+      shell: bash
+      env:
+        APP_CONFIG: ${{ inputs.app-config }}
+        APP_PLATFORM: ${{ inputs.app-platform }}
+        ARTIFACT_PREFIX: ${{ inputs.artifact-prefix }}
+        JUNIT_FILE: ${{ inputs.junit-file }}
+        TEST_TOOL_ID: ${{ inputs.test-tool-id }}
+        TEST_TYPE: ${{ inputs.test-type }}
+      run: |
+        set -euo pipefail
+
+        if [ ! -f "$JUNIT_FILE" ]; then
+          echo "::warning::Skipping omni-github upload because JUnit report was not found: $JUNIT_FILE"
+          echo "upload=false" >> "$GITHUB_OUTPUT"
+          exit 0
+        fi
+
+        artifact_prefix="$(
+          printf '%s' "$ARTIFACT_PREFIX" \
+            | tr '[:upper:]' '[:lower:]' \
+            | sed -E 's/[^a-z0-9_]+/-/g; s/-+/-/g; s/^-+//; s/-+$//'
+        )"
+        if [ -z "$artifact_prefix" ]; then
+          artifact_prefix="pytest-results"
+        fi
+
+        app_platform="$APP_PLATFORM"
+        if [ -z "$app_platform" ]; then
+          case "${RUNNER_OS:-unknown}-${RUNNER_ARCH:-unknown}" in
+            Linux-X64) app_platform="linux-x86_64" ;;
+            Linux-ARM64) app_platform="linux-aarch64" ;;
+            Windows-X64) app_platform="windows-x86_64" ;;
+            Windows-ARM64) app_platform="windows-aarch64" ;;
+            macOS-X64) app_platform="macos-x86_64" ;;
+            macOS-ARM64) app_platform="macos-aarch64" ;;
+            *) app_platform="$(printf '%s-%s' "${RUNNER_OS:-unknown}" "${RUNNER_ARCH:-unknown}" | tr '[:upper:]' '[:lower:]')" ;;
+          esac
+        fi
+
+        app_config="$APP_CONFIG"
+        if [ -z "$app_config" ]; then
+          app_config="${GITHUB_JOB:-github-job}"
+        fi
+
+        artifact_dir="${RUNNER_TEMP}/omni-github-test-results/${artifact_prefix}-${GITHUB_RUN_ID}-${GITHUB_RUN_ATTEMPT}-${GITHUB_JOB}"
+        rm -rf "$artifact_dir"
+        mkdir -p "$artifact_dir"
+
+        python3 "$GITHUB_ACTION_PATH/junit_to_omni_github_results.py" \
+          --junit-file "$JUNIT_FILE" \
+          --output-dir "$artifact_dir" \
+          --test-tool-id "$TEST_TOOL_ID" \
+          --test-type "$TEST_TYPE" \
+          --app-platform "$app_platform" \
+          --app-config "$app_config"
+
+        manifest_path="${artifact_dir}/omni-github-test-results-upload.json"
+        result_path="${artifact_dir}/_testoutput/test_results.json"
+        if [ ! -f "$manifest_path" ] || [ ! -f "$result_path" ]; then
+          echo "::notice::Skipping omni-github upload because no schema-valid result artifact was generated for JUnit report: $JUNIT_FILE"
+          echo "upload=false" >> "$GITHUB_OUTPUT"
+          exit 0
+        fi
+
+        echo "artifact_dir=$artifact_dir" >> "$GITHUB_OUTPUT"
+        echo "artifact_prefix=$artifact_prefix" >> "$GITHUB_OUTPUT"
+        echo "upload=true" >> "$GITHUB_OUTPUT"
+
+    - name: Upload omni-github test results
+      if: always() && steps.convert.outputs.upload == 'true'
+      uses: actions/upload-artifact@v7
+      with:
+        name: ${{ steps.convert.outputs.artifact_prefix }}--v1-${{ github.repository_id }}-${{ github.run_id }}-${{ github.run_attempt }}-${{ job.check_run_id }}
+        path: ${{ steps.convert.outputs.artifact_dir }}
+        if-no-files-found: error
+        retention-days: ${{ inputs.retention-days }}
+        compression-level: 9
diff --git a/.github/actions/upload-omni-github-test-results/junit_to_omni_github_results.py b/.github/actions/upload-omni-github-test-results/junit_to_omni_github_results.py
new file mode 100644
index 000000000000..da0cf601f0df
--- /dev/null
+++ b/.github/actions/upload-omni-github-test-results/junit_to_omni_github_results.py
@@ -0,0 +1,160 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Convert a JUnit XML report into the omni-github test-result artifact format."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+_MANIFEST_NAME = "omni-github-test-results-upload.json"
+_RESULT_PATH = "_testoutput/test_results.json"
+
+
+def _local_name(tag: str) -> str:
+    """Return an XML tag name without its namespace."""
+    return tag.rsplit("}", maxsplit=1)[-1]
+
+
+def _iter_testcases(root: ET.Element) -> list[ET.Element]:
+    """Return all JUnit testcase elements from the parsed XML tree."""
+    return [element for element in root.iter() if _local_name(element.tag) == "testcase"]
+
+
+def _has_child(testcase: ET.Element, names: set[str]) -> bool:
+    """Return whether a testcase has a direct child with one of the given names."""
+    return any(_local_name(child.tag) in names for child in testcase)
+
+
+def _find_child(testcase: ET.Element, names: set[str]) -> ET.Element | None:
+    """Return the first direct testcase child with one of the given names."""
+    for child in testcase:
+        if _local_name(child.tag) in names:
+            return child
+    return None
+
+
+def _duration_seconds(testcase: ET.Element) -> float:
+    """Return the testcase duration in seconds."""
+    try:
+        duration = float(testcase.attrib.get("time", "0"))
+    except ValueError:
+        duration = 0.0
+    return max(duration, 0.0)
+
+
+def _test_id(testcase: ET.Element) -> str:
+    """Return a stable test identifier from JUnit classname and name fields."""
+    name = testcase.attrib.get("name", "").strip()
+    classname = testcase.attrib.get("classname", "").strip()
+    if classname and name:
+        return f"{classname}::{name}"
+    return name or classname or "unknown-testcase"
+
+
+def _message(element: ET.Element | None) -> str | None:
+    """Return a bounded JUnit child message, if present."""
+    if element is None:
+        return None
+    message = element.attrib.get("message", "").strip()
+    return message[:4096] if message else None
+
+
+def _convert_testcase(testcase: ET.Element, test_type: str) -> dict[str, object]:
+    """Convert one JUnit testcase element into an omni-github test row."""
+    skipped = _find_child(testcase, {"skipped"})
+    failed_or_error = _has_child(testcase, {"error", "failure"})
+    row: dict[str, object] = {
+        "test_id": _test_id(testcase),
+        "passed": not failed_or_error and skipped is None,
+        "duration": _duration_seconds(testcase),
+        "test_type": test_type,
+    }
+    if skipped is not None:
+        row["skipped"] = True
+        if skip_reason := _message(skipped):
+            row["skip_reason"] = skip_reason
+    return row
+
+
+def convert_junit(
+    junit_file: Path,
+    output_dir: Path,
+    test_tool_id: str,
+    test_type: str,
+    app_platform: str,
+    app_config: str,
+) -> int:
+    """Convert a JUnit XML report and write the omni-github artifact directory.
+
+    Args:
+        junit_file: Path to the source JUnit XML report.
+        output_dir: Directory where the artifact root should be written.
+        test_tool_id: Identifier for the test tool that produced the report.
+        test_type: Test type to store on each converted test row.
+        app_platform: Platform label for the result app metadata.
+        app_config: Configuration label for the result app metadata.
+
+    Returns:
+        Number of test cases converted.
+    """
+    root = ET.parse(junit_file).getroot()
+    tests = [_convert_testcase(testcase, test_type) for testcase in _iter_testcases(root)]
+    if not tests:
+        return 0
+
+    result: dict[str, object] = {
+        "result_schema_version": 1,
+        "test_tool_id": test_tool_id,
+        "app": {
+            "platform": app_platform,
+            "config": app_config,
+        },
+        "tests": tests,
+    }
+    manifest = {
+        "schema_version": 1,
+        "result_paths": [_RESULT_PATH],
+    }
+
+    result_path = output_dir / _RESULT_PATH
+    result_path.parent.mkdir(parents=True, exist_ok=True)
+    result_path.write_text(json.dumps(result, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+    (output_dir / _MANIFEST_NAME).write_text(json.dumps(manifest, indent=2) + "\n", encoding="utf-8")
+    return len(tests)
+
+
+def parse_args() -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--junit-file", type=Path, required=True, help="Path to the JUnit XML report.")
+    parser.add_argument("--output-dir", type=Path, required=True, help="Artifact root directory to write.")
+    parser.add_argument("--test-tool-id", required=True, help="Identifier for the test tool.")
+    parser.add_argument("--test-type", required=True, help="Test type for each test row.")
+    parser.add_argument("--app-platform", required=True, help="App platform label.")
+    parser.add_argument("--app-config", required=True, help="App configuration label.")
+    return parser.parse_args()
+
+
+def main() -> None:
+    """Run the converter."""
+    args = parse_args()
+    test_count = convert_junit(
+        junit_file=args.junit_file,
+        output_dir=args.output_dir,
+        test_tool_id=args.test_tool_id,
+        test_type=args.test_type,
+        app_platform=args.app_platform,
+        app_config=args.app_config,
+    )
+    if test_count == 0:
+        print("No JUnit test cases found; skipping omni-github artifact generation.")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/actions/upload-omni-github-test-results/test_junit_to_omni_github_results.py b/.github/actions/upload-omni-github-test-results/test_junit_to_omni_github_results.py
new file mode 100644
index 000000000000..9b03f57d30df
--- /dev/null
+++ b/.github/actions/upload-omni-github-test-results/test_junit_to_omni_github_results.py
@@ -0,0 +1,118 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Tests for converting JUnit XML into omni-github test-result artifacts."""
+
+from __future__ import annotations
+
+import importlib.util
+import json
+from pathlib import Path
+from types import ModuleType
+
+_CONVERTER_PATH = Path(__file__).with_name("junit_to_omni_github_results.py")
+_MANIFEST_NAME = "omni-github-test-results-upload.json"
+_RESULT_PATH = Path("_testoutput/test_results.json")
+
+
+def _load_converter() -> ModuleType:
+    """Load the converter module from its action-local script path."""
+    spec = importlib.util.spec_from_file_location("junit_to_omni_github_results", _CONVERTER_PATH)
+    assert spec is not None
+    assert spec.loader is not None
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+def test_convert_junit_writes_schema_compatible_artifact(tmp_path: Path) -> None:
+    """Test that JUnit test cases are converted into manifest-listed result rows."""
+    junit_file = tmp_path / "junit.xml"
+    junit_file.write_text(
+        """<?xml version="1.0" encoding="utf-8"?>
+<testsuite tests="3">
+  <testcase classname="tests.test_demo" name="test_passes" time="0.125" />
+  <testcase classname="tests.test_demo" name="test_fails" time="1.25">
+    <failure message="assertion failed" />
+  </testcase>
+  <testcase classname="tests.test_demo" name="test_skips" time="0">
+    <skipped message="not applicable" />
+  </testcase>
+</testsuite>
+""",
+        encoding="utf-8",
+    )
+    output_dir = tmp_path / "artifact"
+
+    test_count = _load_converter().convert_junit(
+        junit_file=junit_file,
+        output_dir=output_dir,
+        test_tool_id="pytest",
+        test_type="unit",
+        app_platform="linux-x86_64",
+        app_config="test-job",
+    )
+
+    assert test_count == 3
+    manifest = json.loads((output_dir / _MANIFEST_NAME).read_text(encoding="utf-8"))
+    result = json.loads((output_dir / _RESULT_PATH).read_text(encoding="utf-8"))
+    assert manifest == {
+        "schema_version": 1,
+        "result_paths": [_RESULT_PATH.as_posix()],
+    }
+    assert result["result_schema_version"] == 1
+    assert result["test_tool_id"] == "pytest"
+    assert result["app"] == {
+        "platform": "linux-x86_64",
+        "config": "test-job",
+    }
+    assert result["tests"] == [
+        {
+            "duration": 0.125,
+            "passed": True,
+            "test_id": "tests.test_demo::test_passes",
+            "test_type": "unit",
+        },
+        {
+            "duration": 1.25,
+            "passed": False,
+            "test_id": "tests.test_demo::test_fails",
+            "test_type": "unit",
+        },
+        {
+            "duration": 0.0,
+            "passed": False,
+            "skip_reason": "not applicable",
+            "skipped": True,
+            "test_id": "tests.test_demo::test_skips",
+            "test_type": "unit",
+        },
+    ]
+
+
+def test_convert_junit_skips_artifact_when_no_testcases(tmp_path: Path) -> None:
+    """Test that an empty JUnit report does not create a schema-invalid artifact."""
+    junit_file = tmp_path / "junit.xml"
+    junit_file.write_text(
+        """<?xml version="1.0" encoding="utf-8"?>
+<testsuite tests="0" />
+""",
+        encoding="utf-8",
+    )
+    output_dir = tmp_path / "artifact"
+    output_dir.mkdir()
+
+    test_count = _load_converter().convert_junit(
+        junit_file=junit_file,
+        output_dir=output_dir,
+        test_tool_id="pytest",
+        test_type="unit",
+        app_platform="linux-x86_64",
+        app_config="test-job",
+    )
+
+    assert test_count == 0
+    assert not (output_dir / _MANIFEST_NAME).exists()
+    assert not (output_dir / _RESULT_PATH).exists()