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Wheeled Lab

Modern Sim2Real for Low-cost, Open-source Wheeled Robotics

PDF Paper ArXiv arXiv Code

Problem

Robot learning advancements are being developed with expensive resources and high-maintenance robots, creating barriers for broader audiences in research and education.

Solution: Bridge the Gap with Wheeled Robots!

Wheeled Lab integrates open-source entry-level robots with Isaac Lab, making modern robot learning more accessible.

Wheeled Lab Framework Overview

Sim2Real Tasks

To kickstart education and research, we developed three complete Sim2Real pipelines:
Drifting, Elevation Traversal, and Visual Navigation

Drifting

Select video

Drift Policy
Training in Isaac Lab Simulation

Elevation Traversal

Select video

Policy with no block
Training in Isaac Lab Simulation

Visual Navigation

Select video

Policy with moving barricade
Training in Isaac Lab Simulation

Contributing

Wheeled Lab's mission is to enable broader audiences to learn about and engage with indispensible modern robotics skills involving hardware, deployment, and iterative development.
We need everyone's help to achieve this mission!

How to Contribute

  • Bug Reports: Found an issue? Please report it on our GitHub Issues page.
  • Feature Requests: Have an idea for a new feature? We'd love to hear about it!
  • Code Contributions: Submit pull requests for bug fixes, new features, or improvements.
  • Documentation: Help improve our documentation, tutorials, and examples.
  • Hardware Adaptations: Adapt Wheeled Lab for new robot platforms and share your configurations.

Getting Started

  1. Fork the repository on GitHub
  2. Clone your fork locally
  3. Create a new branch for your feature
  4. Make your changes and test them
  5. Submit a pull request

Check out our Contributing Guidelines for detailed instructions.

News & Media

Latest News

August 8, 2025: "Wheeled Lab: Modern Sim2Real for Low-Cost, Open-Source Robotics Wheeled Robotics" is accepted to the Conference on Robot Learning, 2025. See you in Seoul!

April 13, 2025: LycheeAI hosts Tyler on YouTube and gets questions about Wheeled Lab from the community answered.

April 12, 2025: Wheeled Lab is featured in NVIDIA's blog!

February 11, 2025: Wheeled Lab is released!

Media Coverage

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Contact & Inquiries

Get in Touch

Have questions about Wheeled Lab? Want to collaborate? We'd love to hear from you!

Research Inquiries

For research collaborations and academic questions, please contact:

Tyler Han
Lead Author
than123@uw.edu
Personal Website

Jason Zhou
Maintainer
jzhou44@uw.edu

Other Ways to Connect

Technical Support

For technical issues, bug reports, or implementation questions:

University of Washington
Paul G. Allen School of Computer Science & Engineering
Seattle, WA 98195