Sim-to-real Reinforcement Learning locomotion on a $300+ robot dog — full Isaac Sim pipeline, actually works

3-part series by sentdex walking through the whole thing: evaluating Isaac Sim for an affordable Bittle open source robot dog, training a locomotion policy with RL, then deploying to the physical robot.

Part 1 is basically “is this even worth attempting on consumer hardware” — spoiler, yes.

Part 2 digs into the actual RL training inside Isaac Sim — he uses TD3 and shares the full repo, so you can follow along.

By part 3 the thing is walking on a treadmill. Not perfectly, but it transfers.

Full playlist: https://www.youtube.com/playlist?list=PLQVvvaa0QuDenVbxP4LXYZoGbjfgP-Y5i