- Isaac Lab 训练初体验与强化学习探索
从零开始学习 Isaac Lab 训练机器狗的过程中，对强化学习、奖励函数、贝叶斯优化和 PPO 的一些思考与总结。
8 min read Chinese - Compiled Behavior vs Runtime Simulation
A bilingual note on PPO, critics, world models, and why runtime simulation in robotics usually lives in the physics engine, not the policy.
9 min read bilingual