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

Sahar Salimpour, Jorge Peña-Queralta, Diego Paez-Granados +2

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid…