# 🎓 Examples

End-to-end RL training examples that ship with Genesis. Each page walks through the environment, reward shaping, and the training loop for a specific task.

- [**Training Locomotion Policies with RL**](locomotion) - quadruped locomotion with PPO on the Go2 robot.
- [**Training Drone Hovering Policies with RL**](hover_env) - quadcopter hover-and-stabilize with PPO.
- [**Manipulation with Two-Stage Training**](manipulation) - pick-and-place with a Franka arm using a two-stage RL + behavior-cloning pipeline.

```{toctree}
:hidden:
:maxdepth: 1

locomotion
hover_env
manipulation
```