Three modules, one pipeline.

1. Scenario compiler

Imports cell CAD and the SKU manifest, emits a USD scene with physically plausible randomization: friction 0.2–0.9, mass ±18%, lighting 200–1,200 lux, Gaussian depth speckle. 4,096 parallel environments per run.

2. Policy trainer

PPO with imitation warm-start from twenty minutes of teleoperation. Isaac Lab on an 8×H100 80 GB node: 90 GPU-hours and 11 hours of wall-clock per generation, twenty-two generations a month. Every generation is archived by seed.

3. Edge runtime

TensorRT engine on Jetson AGX Thor at 30 Hz. Falls back to cuRobo replanning when grasp confidence drops below 0.6, then releases to the exception lane. Runs offline; the plant needs no internet.

Deployment

Week 1	Cell CAD and manifest intake. Baseline capture of 60 SKUs, manual timings.
Week 2	Scene compilation, first three generations. Per-family success report delivered.
Week 3	Gate run on held-out SKUs. Edge runtime installed, safety validation, handover.
Week 4–6	Supervised production. Drift review every 48 h, manifest updates folded into the next generation.

Median commissioning after gate pass: 52 minutes, six of 24 cells, August–October 2026.