Sim-to-Real Tutorials

Overview

The Sim-to-Real tutorials demonstrate GPU-accelerated workflows for training policies in simulation and deploying them to real robots.

Available Tutorials

Training and Deploying an RL Policy from Isaac Lab to a Real Robot

• Tutorial for Training and Deploying an RL Policy from Isaac Lab to a Real Robot

Start here to learn how to train a basic RL reach policy in Isaac Lab and deploy it to a UR10e manipulator using Isaac ROS. This tutorial covers the complete workflow from training to deployment.

Gear Assembly with Contact Rich Insertion Policy and cuMotion

• Tutorial for Gear Assembly with Contact Rich Insertion Policy and cuMotion

Learn how to perform gear assembly using a contact rich insertion policy trained with Reinforcement Learning. This advanced tutorial combines perception, motion planning, and neural skill policies to insert gears into a peg stand.