Sim-to-Real Transfer for Mobile Robots with Reinforcement Learning: from NVIDIA Isaac Sim to Gazebo and Real ROS 2 Robots

Description

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid robots. Modern tooling and simulation platforms, such as NVIDIA Isaac Sim, have been enabling such advances. This article focuses on demonstrating the applications of Isaac in local planning and obstacle avoidance as one of the most fundamental ways in which a mobile robot interacts with its environments. Although the

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