[Skip to main content](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/02-digital-twins.html.md#main-content) Back to top Ctrl+K [Getting Started With Isaac Lab](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/index.html.md) Choose version Search Ctrl+K - [YouTube](https://www.youtube.com/@NVIDIAOmniverse) - [Discord](https://discord.gg/nvidiaomniverse.md) - [Survey](https://surveys.hotjar.com/98510484-7ad7-4ddc-bfc4-1b7663827216.md?utm_source=getting-started-with-isaac-lab) - [Home](https://docs.nvidia.com/learning/physical-ai/) Search Ctrl+K [Getting Started With Isaac Lab](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/index.html.md) Choose version - [YouTube](https://www.youtube.com/@NVIDIAOmniverse) - [Discord](https://discord.gg/nvidiaomniverse.md) - [Survey](https://surveys.hotjar.com/98510484-7ad7-4ddc-bfc4-1b7663827216.md?utm_source=getting-started-with-isaac-lab) - [Home](https://docs.nvidia.com/learning/physical-ai/) Table of Contents Contents - [Robot Learning Fundamentals](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/index.html.md) - [Motivation and Definition](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/01-motivation-and-definition.html.md) - [Problem Specification](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/02-problem-specification.html.md) - [Forms of Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/03-forms-of-learning.html.md) - [Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/04-reinforcement-learning.html.md) - [Proximal Policy Optimization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/05-proximal-policy-optimization.html.md) - [Reward Design and Evaluation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/06-reward-design-and-policy-evaluation.html.md) - [Policy Distillation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/07-policy-distillation.html.md) - [Simulation to Reality](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/08-simulation-to-reality.html.md) - [Robot Learning Workflows](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/09-robot-learning-workflows.html.md) - [Isaac Lab Basics](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/index.html.md) - [The Isaac Platform](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/01-the-isaac-platform.html.md) - [Project Generation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/02-isaac-lab-projects.html.md) - [Development Workflow](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/03-development-workflow.html.md) - [The Isaac Lab CLI](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/04-isaac-lab-cli.html.md) - [Manager-Based Workflows](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/05-manager-based-workflows.html.md) - [The Cartpole Example](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/06-isaac-lab-cartpole.html.md) - [Cartpole Training](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/07-cartpole-training.html.md) - [Train a Robot Arm](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/index.html.md) - [Project Setup](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/01-project-setup.html.md) - [SO-101 Robot](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/02-so101-robot.html.md) - [Vial and Rack Scene](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/03-vial-and-rack.html.md) - [Running Simple Agents](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/04-simple-agents.html.md) - [Train a Teacher Policy](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/05-teacher-policy.html.md) - [Distill a Student Policy](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/06-distilled-policy.html.md) - [Managing Experiments](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/07-managing-experiments.html.md) - [Transfer Policies From Simulation to Reality](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/index.html.md) - [Overview](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/index.html.md) - [The Successes of Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/index.html.md) - [Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/index.html.md) - [The Challenges of Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/01-the-challenges-of-reinforcement-learning.html.md) - [Simulation: A Game-Changer](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/02-simulation.html.md) - [What Is the Reality Gap?](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/02-the-reality-gap/index.html.md) - [The Reality Gap](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/02-the-reality-gap/index.html.md) - [Visualizing the Reality Gap](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/02-the-reality-gap/01-visualizing-the-reality-gap.html.md) - [Bridging the Gap: Simulation Enhancement](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/index.html.md) - [Domain Randomization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/index.html.md) - [Visual Domain Randomization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/01-visual-domain-randomization.html.md) - [Depth Camera Randomization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/02-depth-camera-randomization.html.md) - [Point Cloud Perturbations](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/03-point-cloud-perturbations.html.md) - [Bridging the Gap: Real-World Data Integration](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/index.html.md) - [System Identification](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/index.html.md) - [Actuator Modeling](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/01-actuator-modeling.html.md) - [Digital Twins](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/02-digital-twins.html.md#) - [Neural Rendering](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/03-neural-rendering.html.md) - [World Models](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/04-world-models.html.md) - [Regularization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/05-bridging-the-gap-policy-robustness/index.html.md) - [Regularization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/05-bridging-the-gap-policy-robustness/index.html.md) - [Leveraging Privileged Information](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/05-bridging-the-gap-policy-robustness/01-leveraging-privileged-information.html.md) - [Considerations When Bridging the Reality Gap](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/index.html.md) - [Considerations](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/index.html.md) - [Tips for Sim-to-Real](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/01-tips-for-sim-to-real.html.md) - [Review](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/02-review.html.md) - [Quiz](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/03-quiz.html.md) Resources [Physical AI Learning Hub](https://docs.nvidia.com/learning/physical-ai/) [Developer Forums](https://forums.developer.nvidia.com/c/omniverse/300) [Community Discord](https://discord.gg/nvidiaomniverse.md) - [Home](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/index.html.md) - [Transfer Policies From Simulation to Reality](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/index.html.md) - [Bridging the Gap: Real-World Data Integration](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/index.html.md) - Digital Twins # Digital Twins[#](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/02-digital-twins.html.md#digital-twins 'Link to this heading') Another promising approach is the use of digital twins. This involves taking a 3D scan of the environment, creating a fully-textured mesh from it, then importing this mesh into a simulation. With Omniverse, we can also adjust the scene later on, and add lights, more objects, or even animated characters. In the example above, a BLK 360 laser scanner was used to create a huge scan of the ETH campus in Zurich. This technique allows creation of highly accurate virtual representations of real-world environments for testing and simulation purposes. [previous\\ \\ Actuator Modeling](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/01-actuator-modeling.html 'previous page') [next\\ \\ Neural Rendering](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/03-neural-rendering.html 'next page') [View this page as Markdown](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/02-digital-twins.html.md 'View this page as clean Markdown for LLMs and AI agents') [NVIDIA](https://www.nvidia.com) [Privacy Policy](https://www.nvidia.com/en-us/about-nvidia/privacy-policy.md/) | [Manage My Privacy](https://www.nvidia.com/en-us/about-nvidia/privacy-center.md/) | [Do Not Sell or Share My Data](https://www.nvidia.com/en-us/preferences/start.md/) | [Terms of Service](https://www.nvidia.com/en-us/about-nvidia/terms-of-service.md/) | [Accessibility](https://www.nvidia.com/en-us/about-nvidia/accessibility.md/) | [Corporate Policies](https://www.nvidia.com/en-us/about-nvidia/company-policies.md/) | [Product Security](https://www.nvidia.com/en-us/product-security.md/) | [Contact](https://www.nvidia.com/en-us/contact/) Copyright © 2025 NVIDIA CORPORATION & AFFILIATES. 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