Sim2Real Transfer

Control policies trained with MagBotSim can be transferred to a real MagLev system. We provide an example for using a control policy trained with MagBotSim in real-time to control the movers of a Beckhoff XPlanar system and TwinCAT3 in this repository. Since the policy needs to be converted to ONNX, we also provide the following example scripts:

• Stable-Baselines3 SAC to ONNX

• TorchRL SAC to ONNX