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Train an SO-101 Robot From Sim-to-Real With NVIDIA Isaac

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Train an SO-101 Robot From Sim-to-Real With NVIDIA Isaac

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Survey

Table of Contents

Overview

Overview
How to Take This Course
What Is Sim-to-Real?
LeRobot: Background and Community

Build Your Robot Lab

Building the Workspace
Get the Code and Models
Calibrating the SO-101
Operating the SO-101

Collect Data, Train, and Evaluate

Sim-to-Real Strategy 1: Domain Randomization
Isaac GR00T: Vision-Language-Action Models
Sim Evaluation
Real Evaluation

Augment Datasets

Sim-to-Real Strategy 2: Co-Training With Real Data
Sim-to-Real Strategy 3: Augmenting Datasets With Cosmos

Measure the Actuation Gap

Sim-to-Real Strategy 4: Measuring and Closing the Gap With SAGE + GapONet
Conclusion

Reference

Quick Reference
Datasets and Models
Troubleshooting Guide
Workshop Code
Physical AI Learning

Index

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