To get an idea of the thing. I would find something similar to https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/an-introducti

To get an idea of the thing. I would find something similar to https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/an-introduction-to-robot-learning-and-isaac-lab/03-available-robots-and-environments/02-available-environments.html https://docs.nvidia.com/learning/physical-ai/getting-started... Caveat here is you may not be able to use their environments or you may or may not have their kind or robots to train your roomba. But at-least you could get an idea of how RL training is done for robots like yours.