Update Compass tutorial doc

docs/source/_static/css/custom.css

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     width: min(100%, 480px);
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+.nurec-gif-grid,
+.nurec-gif-grid td {
+    border: none;
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+.nurec-gif-grid td {
+    vertical-align: top;
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+.nurec-gif-grid figure {
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+    margin-right: auto;
+    max-width: 360px;
+}
+
+figure.nurec-gif-cover img,
+figure.nurec-gif-contain img {
+    aspect-ratio: 16 / 9;
+    display: block;
+    object-position: center;
+    width: 100%;
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+figure.nurec-gif-cover img {
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+figure.nurec-gif-contain img {
+    object-fit: contain;
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+.nurec-gif-grid figcaption {
+    font-family: "NVIDIA Sans", "Inter", "Segoe UI", sans-serif;
+    font-size: 0.86rem;
+    line-height: 1.35;
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+
+.nurec-gif-grid figcaption p {
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+.nurec-gif-grid figcaption .line-block {
+    margin-top: 0;
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+.nurec-gif-grid-single figcaption {
+    margin-left: 50%;
+    max-width: calc(100vw - 2rem);
+    transform: translateX(-50%);
+    width: max-content;
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docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst

@@ -1,27 +1,113 @@
-Training & Deploying COMPASS Navigation Policy with Real2Sim NuRec
-====================================================================
+Training and Deploying COMPASS Policies with NuRec Assets
+=========================================================
 
-COMPASS (Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis) trains and
-deploys cross-embodiment navigation policies on NuRec Real2Sim assets — photoreal
-Gaussian-splat reconstructions of real spaces — in Isaac Lab.
+`COMPASS <https://arxiv.org/abs/2502.16372>`_ (Cross-embodiment Mobility Policy via Residual RL and
+Skill Synthesis) trains navigation policies that can transfer across robot embodiments. Isaac Lab supports
+COMPASS training with NuRec scene assets, so policies can be developed in reconstructed real-world
+environments instead of relying only on hand-authored simulation scenes.
 
-This tutorial now lives in the **COMPASS handbook**, next to the code it documents, where it
-stays in sync with the NuRec support branch.
+This page gives a short overview of the supported NuRec assets and example COMPASS training clips. For
+installation, asset registration, training, evaluation, export, and ROS 2 deployment instructions, see the
+`COMPASS handbook <https://github.com/NVlabs/COMPASS/blob/real2sim/isaaclab_3.0/docs/handbook/workflows/nurec_real2sim.md>`_.
 
-Where to find it
+NuRec Assets for COMPASS
+------------------------
+
+NuRec assets matter for COMPASS because they allow navigation policies to train in simulation on realistic
+geometry, visual appearance, and obstacle layouts. This, in turn, should reduce the sim-to-real gap between
+training scenes and real operating environments and improve zero-shot transfer. They also make it possible
+to evaluate policies in reconstructed simulation scenes that better reflect target deployment spaces.
+
+Some sample assets compatible with COMPASS training are available in the
+`PhysicalAI-Robotics-NuRec dataset on Hugging Face <https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2>`_.
+
+Real2Sim Assets
+~~~~~~~~~~~~~~~
+
+`NVIDIA Neural Reconstruction (NuRec) <https://docs.nvidia.com/nurec/index.html>`_ converts real-world
+sensor data into digital simulation-ready assets for training and testing Physical AI agents. The Real2Sim
+workflow converts stereo RGB captures into Isaac Sim-ready assets with aligned geometry, collision meshes,
+and simulation-ready scene augmentation. The PhysicalAI-Robotics-NuRec dataset includes several robotics
+scenes produced with this workflow; two examples are shown below.
+
+.. list-table::
+   :widths: 50 50
+   :class: nurec-gif-grid
+
+   * - .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/nurec_real2sim_galileo.gif
+          :alt: Galileo Real2Sim NuRec asset
+          :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/nova_carter-galileo
+          :class: nurec-gif-cover
+          :align: center
+
+          **Galileo**
+
+          | Embodiment: `Nova Carter [wheeled robot] <https://robotics.segway.com/nova-carter/>`_
+          | Sensor Rig: 4 x `Stereo Camera <https://leopardimaging.com/wp-content/uploads/2024/07/LI-AR0234CS-STEREO-GMSL2-30_Datasheet_V1.8.pdf>`_
+     - .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/nurec_real2sim_living_room.gif
+          :alt: Living Room Real2Sim NuRec asset
+          :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/hand_hold-endeavor-livingroom
+          :class: nurec-gif-cover
+          :align: center
+
+          **Living Room**
+
+          | Embodiment: Hand-Held
+          | Sensor Rig: 1 x `Stereo Camera <https://leopardimaging.com/wp-content/uploads/2024/07/LI-AR0234CS-STEREO-GMSL2-30_Datasheet_V1.8.pdf>`_
+
+XGRIDS Assets
+~~~~~~~~~~~~~
+
+COMPASS also supports compatible assets reconstructed with XGRIDS. These assets are post-processed into the
+NuRec format used by the COMPASS workflow, including mesh alignment and augmentation with simulation-ready
+assets available in Isaac Sim.
+
+.. list-table::
+   :widths: 100
+   :class: nurec-gif-grid nurec-gif-grid-single
+
+   * - .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/xgrid_wormhole_with_sim_objects.gif
+          :alt: Wormhole XGRIDS reconstruction
+          :target: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/xgrid-wormhole
+          :class: nurec-gif-cover
+          :align: center
+
+          **Wormhole**
+
+          | Embodiment: Hand-Held
+          | Sensor Rig: `XGRIDS PortalCam <https://www.xgrids.com/intl/portalcamp>`_ [2 x fish-eye cameras, 2 x front cameras, 1 x LiDAR]
+
+COMPASS Workflow
 ----------------
 
-- **Repository:** `COMPASS on GitHub <https://github.com/NVlabs/COMPASS>`_
-- **Branch:** ``samc/support_nurec_assets_isaaclab_3.0`` (NuRec Real2Sim support)
-- **Guide:** `docs/handbook/workflows/nurec_real2sim.md <https://github.com/NVlabs/COMPASS/blob/samc/support_nurec_assets_isaaclab_3.0/docs/handbook/workflows/nurec_real2sim.md>`_ in the COMPASS repository.
+The complete COMPASS workflow is maintained in the COMPASS repository:
+
+- **Repository:** `NVlabs/COMPASS <https://github.com/NVlabs/COMPASS>`_
+- **Branch:** ``real2sim/isaaclab_3.0``
+- **Guide:** `NuRec asset workflow <https://github.com/NVlabs/COMPASS/blob/real2sim/isaaclab_3.0/docs/handbook/workflows/nurec_real2sim.md>`_
+
+The guide covers the COMPASS code path for training with NuRec assets generated by the Real2Sim workflow,
+including Isaac Sim and Isaac Lab setup, COMPASS installation, asset download and registration, residual RL
+specialist training, evaluation, ONNX and TensorRT export, and ROS 2 sim-to-real deployment.
+
+Training Examples
+-----------------
+
+The following clips show COMPASS training with different robot embodiments in NuRec scenes.
+
+.. list-table::
+   :widths: 50 50
+   :class: nurec-gif-grid
 
-.. code-block:: bash
+   * - .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/compass_galileo_g1_training.gif
+          :alt: COMPASS training with a G1 robot in the Galileo scene
+          :class: nurec-gif-contain
+          :align: center
 
-    git clone https://github.com/NVlabs/COMPASS.git
-    cd COMPASS
-    git checkout samc/support_nurec_assets_isaaclab_3.0
-    # Open docs/handbook/workflows/nurec_real2sim.md
+          **Galileo** with G1
+     - .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/compass_xgrid_wormhole_carter_training.gif
+          :alt: COMPASS training with a Carter robot in the XGRIDS Wormhole scene
+          :class: nurec-gif-contain
+          :align: center
 
-The guide covers Isaac Sim / Isaac Lab installation, COMPASS setup, downloading and
-registering NuRec Real2Sim scenes, training a residual RL specialist, evaluation,
-ONNX / TensorRT export, and ROS2 / sim-to-real deployment.
+          **Wormhole** with Carter

pyproject.toml

@@ -189,7 +189,7 @@ reportPrivateUsage = "warning"
 skip = '*.usd,*.usda,*.usdz,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build'
 quiet-level = 0
 # the world list should always have words in lower case
-ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty"
+ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty,segway"
 
 
 [tool.pytest.ini_options]