Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab

Originally published at: https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/

Developing effective locomotion policies for quadrupeds poses significant challenges in robotics due to the complex dynamics involved. Training quadrupeds to walk up and down stairs in the real world can damage the equipment and environment. Therefore, simulators play a key role in both safety and time constraints in the learning process.  Leveraging deep reinforcement learning…