Any existing example for training a Nova Carter to navigate a custom room? (Isaac Lab RL)

[aamchitou]

Hi everyone,

I've been working on training a Nova Carter (differential drive) to navigate autonomously inside a custom room I built as a USD scene — basically reaching goal positions while avoiding walls and obstacles, using RL with Isaac Lab 2.3 and Isaac Sim 5.1.

I've already got a fair bit working (the robot drives, sees obstacles with a lidar, and learns to head toward goals), but before I keep reinventing the wheel, I wanted to ask the community:

Is there already an official tutorial or an example project that does this kind of thing — goal-reaching navigation with obstacle avoidance for a wheeled robot? I've looked at the Anymal navigation task, but it's a quadruped and has no obstacles, so it only gets me halfway.

If something like this already exists (official or community), I'd love a pointer — no need to redo it from scratch. And if it doesn't, I'd really appreciate any advice on the recommended way to approach it (lidar setup, reward design for avoidance, that kind of thing).

Thanks a lot for any help!