add doc for resume to the dexsuite example

Author: qianl-nv

docs/pages/example_workflows/dexsuite_lift/step_2_policy_training.rst

@@ -64,6 +64,29 @@ Hyperparameters can be overridden with Hydra-style CLI arguments:
      agent.max_iterations=20000 agent.save_interval=500 agent.algorithm.learning_rate=0.0005
 
 
+Resuming from a Checkpoint
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+To resume training from a previously saved checkpoint, use the ``--resume`` flag
+together with ``--load_run`` (run folder name) and ``--checkpoint`` (model filename).
+Both arguments are optional — when omitted, the most recent run and latest checkpoint
+are used automatically.
+
+.. code-block:: bash
+
+   python submodules/IsaacLab/scripts/reinforcement_learning/rsl_rl/train.py \
+     --task Isaac-Dexsuite-Kuka-Allegro-Lift-v0 \
+     --num_envs 512 \
+     --resume \
+     --load_run <timestamp> \
+     --checkpoint model_5000.pt \
+     presets=newton presets=cube
+
+Replace ``<timestamp>`` with the run folder name under ``logs/rsl_rl/dexsuite_kuka_allegro/``.
+If ``--load_run`` is omitted, the latest run is selected. If ``--checkpoint`` is omitted,
+the latest checkpoint in that run is loaded.
+
+
 Monitoring Training
 ^^^^^^^^^^^^^^^^^^^