Sim-to-Real¶
Prepare a trained UniLab policy for hardware bring-up. Start with the overview, then move through export, randomization, safety, latency, and robot-specific notes.
Overview and pre-flight
End-to-end pipeline and go/no-go checklist.
ONNX runtime
Training playback exports, ONNX Runtime checks, and deploy inputs.
Domain randomization
Priority-ordered randomization checks for real-world transfer.
Safety layers
Soft limits, action filters, watchdogs, and e-stop boundaries.
Latency budget
Training-side latency knobs and deploy-side measurement checks.
Troubleshooting
Symptom, cause, and fix notes for hardware bring-up.
G1 whole-body
Motion-tracking deployment notes for the G1 path.
Go2 locomotion
Joystick, rough terrain, and Go2W deployment notes.
Allegro in-hand
In-hand manipulation deployment checks.