Additional Resources
====================

External tutorials, research projects, and tools for robot learning and deployment.


Sim-to-Real Resources
---------------------

Examples of training policies in simulation and deploying them on robots:

* `Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab <https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/>`_ is a detailed guide for training a quadruped locomotion policy for the Spot Quadruped from Boston Dynamics, and deploying it to the real robot.


LLM Generated Reward Functions
------------------------------

Eureka uses an LLM to generate and tune reinforcement-learning reward functions.

* `Isaac Lab Eureka <https://github.com/isaac-sim/IsaacLabEureka>`_ provides the reward-generation pipeline for direct Isaac Lab environments.

* `Eureka! NVIDIA Research Breakthrough Puts New Spin on Robot Learning <https://blogs.nvidia.com/blog/eureka-robotics-research/>`_ is a blog post that covers the broad idea of this reward generation process.


Simulation Features
-------------------

The following resources cover Isaac Sim workflows. For Isaac Lab's physics and
rendering options, see :doc:`/source/concepts/physics_backends` and
:doc:`/source/concepts/renderers`.

* `Simulation Performance Guide <https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/dev_guide/guides/physics-performance.html>`_ is a best practice guide for obtaining the best simulation performance from OmniPhysics.

* `Deploying Policies in Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_lab_tutorials/tutorial_policy_deployment.html>`_ is an Isaac Sim tutorial on how to use trained policies within the simulation.

* `Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab <https://developer.nvidia.com/blog/supercharge-robotics-workflows-with-ai-and-simulation-using-nvidia-isaac-sim-4-0-and-nvidia-isaac-lab/>`_ describes the features introduced in Isaac Sim 4.0.

* `Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab <https://developer.nvidia.com/blog/fast-track-robot-learning-in-simulation-using-nvidia-isaac-lab/>`_ introduces Isaac Lab's robot-learning workflows.