diff --git a/docs/source/policy_deployment/index.rst b/docs/source/policy_deployment/index.rst index e4a04dfdc6d..8876441f3d3 100644 --- a/docs/source/policy_deployment/index.rst +++ b/docs/source/policy_deployment/index.rst @@ -9,3 +9,43 @@ Below, you’ll find detailed examples of various policies for training and depl :maxdepth: 1 00_hover/hover_policy + + +Resources with Available/Open-Source Code +----------------------------------------- + +Explore these external resources featuring practical implementations with available/open-source code: + +- **Deploying Policies in Isaac Sim** + Step-by-step guide to deploying exported RL + policies trained in Isaac Lab, covering demos for + Unitree H1 and Boston Dynamics Spot and sim-to-real + considerations - + `Tutorial in Isaac Sim Documentation `_ + +- **Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab** + Shows how to train a robust locomotion policy for the + Boston Dynamics Spot quadruped in Isaac Lab and deploy + it zero-shot on the real robot using NVIDIA Jetson Orin - + `Blog post on NVIDIA Technical Blog `_ + +- **Kinova Gen3 RL & Sim2Real Toolkit** + Modular Isaac Lab extension to train reach-task policies + for the Kinova Gen3 arm, and deploy them on the real + robot via a minimal ROS2 interface. Includes pre-trained + models - + `Project repository on GitHub `_ + +- **Wheeled Lab for Mobile Robots** + Demonstrates three sim-to-real RL policies (drifting, + elevation traversal, and visual navigation) for small + RC cars, all trained in Isaac Lab and tested on + low-cost hardware - + `Project website on UW Robot Learning GitHub Pages `_ + +- **rl_sar: Sim2Real Framework for RL** + C++/Python framework for sim and real deployment of RL + policies on quadrupeds, humanoids, and wheeled robots. + Supports ROS1/ROS2 and integrates with Isaac Lab via + `robot_lab` - + `Project repository on GitHub `_ \ No newline at end of file