Port HIL SERL (#644)

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Eugene Mironov <helper2424@gmail.com>
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: Ke Wang <superwk1017@gmail.com>
Co-authored-by: Yoel Chornton <yoel.chornton@gmail.com>
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>

docs/source/_toctree.yml

@@ -9,6 +9,10 @@
     title: Getting Started with Real-World Robots
   - local: cameras
     title: Cameras
+  - local: hilserl
+    title: Train a Robot with RL
+  - local: hilserl_sim
+    title: Train RL in Simulation
   title: "Tutorials"
 - sections:
   - local: so101