Update compass doc

docs/source/policy_deployment/03_compass_with_NuRec/compass_navigation_policy_with_NuRec.rst

@@ -1,27 +1,65 @@
 Training & Deploying COMPASS Navigation Policy with Real2Sim NuRec
 ====================================================================
 
-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 (Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis) `[arXiv:2502.16372] <https://arxiv.org/abs/2502.16372>`_ trains cross-embodiment navigation policies. We support training COMPASS using NuRec assets in Isaac Lab.
 
-This tutorial now lives in the **COMPASS handbook**, next to the code it documents, where it
-stays in sync with the NuRec support branch.
+
+NuRec Assets
+------------
+
+Real2Sim NuRec assets are available on `HuggingFace <https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2>`_.
+
+Assets are generated by Nvidia's Real2Sim NuRec workflow.
+Real2Sim NuRec pipeline generates data using multiple stereo RGB pipelines.
+Examples of assets here.
+
+Using 4 stereo RGB cameras
+
+ - `Galileo <https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/nova_carter-galileo>`_
+
+   .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/galileo.gif
+      :alt: Galileo NuRec Real2Sim asset
+      :width: 480px
+
+Using 1 stereo RGB camera
+
+ - `Living Room <https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/hand_hold-endeavor-livingroom>`_
+
+   .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/living_room.gif
+      :alt: Living room NuRec Real2Sim asset
+      :width: 480px
+
+We also support reconstruction done using `XGRIDS Portal Camera <https://www.xgrids.com/intl/portalcam>`_ using their own proprietary software.
+
+ - `Wormhole <https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec/tree/v0.2/xgrid-wormhole>`_
+
+   .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/wormhole.gif
+      :alt: Wormhole Room XGRIDS reconstruction
+      :width: 480px
+
+The complete tutorial for training COMPASS with NuRec assets is available in **COMPASS handbook**.
 
 Where to find it
 ----------------
 
 - **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.
-
-.. code-block:: bash
-
-    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
+- **Branch:** ``real2sim/isaaclab_3.0`` (NuRec asset support for training with COMPASS)
+- **Guide:** `docs/handbook/workflows/nurec_real2sim.md <https://github.com/NVlabs/COMPASS/blob/real2sim/isaaclab_3.0/docs/handbook/workflows/nurec_real2sim.md>`_ in the COMPASS repository.
 
 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.
+
+Sample training with NuRec assets with different embodiments.
+
+1. Galileo training with G1 robot
+
+   .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/galileo_g1_training.gif
+      :alt: Galileo G1 training view
+      :width: 480px
+
+2. Xgrid babyroom (along with sim obstacles) with Carter robot
+
+   .. figure:: ../../_static/policy_deployment/03_compass_with_NuRec/xgrid_wormhole_carter_training.gif
+      :alt: XGRIDS Wormhole training view
+      :width: 480px