Hello everyone!
In today’s video, we’re excited to share a complete Sim2Real pipeline using the OMY robot — from reinforcement learning in simulation to real-world deployment.
Introducing OMY
OMY is a compact 6-DoF manipulator with a gripper, tailored for Physical AI and robotics learning. It supports both simulation and real-world operation, and its modular structure makes it ideal for research in imitation learning, reinforcement learning, and Sim2Real transfer.
Simulation-to-Reality Workflow
We begin in Isaac Sim, where the OMY robot is trained via reinforcement learning to perform a Reach task. After verifying the policy in Isaac Sim, we move on to Gazebo for Sim2Sim validation. The trained policy is then deployed on a Dynamixel-based dummy robot, where parameter tuning is conducted. Finally, the policy is transferred to the real OMY robot, completing the Sim2Real process.
Thank you so much for watching!
If you have any questions or ideas, feel free to leave a comment. Your support helps us build better tools for the future of robotics and AI research.
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