Transfer and Deployment
This section covers what happens after the core simulator and RL task definitions are already working: moving trained policies into other runtimes, checking that they still behave correctly, and wiring them into deployment-side software stacks.
flowchart TD
A[Real platform and logs] --> B[Real2Sim]
B --> C[Aligned parameters and task assumptions]
C --> D[RL training]
D --> E[Exported policy]
E --> F[Sim2Sim]
E --> G[Sim2Real]
F --> H[Replay and alignment validation]
G --> I[ROS middleware and PX4 integration]Reading Order
Bring simulation parameters closer to the real platform through parameter alignment and system identification.
Export trained policies and replay them in MuJoCo under controlled conditions.
Assemble ROS middleware, software-in-the-loop integration, and hardware-facing workflows.
Scope
Use this section when the main question is how to move a trained or validated stack into another runtime and keep it usable there, from parameter alignment through replay and deployment-side integration.