Skip to main content

Lab 10-03: Complete Sim-to-Real Transfer Pipeline

Objectives​

  • Train controller in randomized simulation
  • Deploy trained policy to real TurtleBot 4
  • Measure real-world performance metrics
  • Analyze sim-to-real transfer success

Prerequisites​

  • Completed Labs 10-01 and 10-02
  • TurtleBot 4 access
  • Understanding of RL or control design

Key Concepts​

This lab integrates domain randomization (Lab 10-01) and system identification (Lab 10-02) into a complete sim-to-real pipeline for navigation tasks.

Implementation Summary​

Students implement:

  1. Train navigation controller in randomized MuJoCo/Gazebo simulation
  2. Validate controller with identified real robot parameters
  3. Deploy to TurtleBot 4 via ROS2
  4. Measure success rate on real navigation tasks
  5. Compare sim vs real performance metrics

Expected Outcomes​

  • Working sim-to-real navigation system

  • 70% success rate on real hardware

  • Analysis of remaining sim-to-real gaps

Rubric: 100 points (Challenge: 20/Navigation: 40/Deployment: 25/Analysis: 15)​

Related Content​

  • Module 10 theory.md, Section 10.3 (Transfer Strategies)
  • Case studies: Boston Dynamics, Agility Robotics sim-to-real