Training & Deploying COMPASS Navigation Policy with Real2Sim NuRec

COMPASS (Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis) trains and deploys cross-embodiment navigation policies on NuRec Real2Sim assets — photoreal Gaussian-splat reconstructions of real spaces — in Isaac Lab.

This tutorial now lives in the COMPASS handbook, next to the code it documents, where it stays in sync with the NuRec support branch.

Where to find it

• Repository: COMPASS on GitHub

• Branch: samc/support_nurec_assets_isaaclab_3.0 (NuRec Real2Sim support)

• Guide: docs/handbook/workflows/nurec_real2sim.md in the COMPASS repository.

git clone https://github.com/NVlabs/COMPASS.git
cd COMPASS
git checkout samc/support_nurec_assets_isaaclab_3.0
# Open docs/handbook/workflows/nurec_real2sim.md

The guide covers Isaac Sim / Isaac Lab installation, COMPASS setup, downloading and registering NuRec Real2Sim scenes, training a residual RL specialist, evaluation, ONNX / TensorRT export, and ROS2 / sim-to-real deployment.