diff --git a/CHEATSHEET.md b/CHEATSHEET.md
new file mode 100644
index 0000000..93fa511
--- /dev/null
+++ b/CHEATSHEET.md
@@ -0,0 +1,102 @@
+# Workshop Cheatsheet
+
+## Repository Guide
+
+### Clone this repo
+
+```bash
+git clone --recurse-submodules https://github.com/ros-wg-delib/roscon24-workshop.git
+```
+
+### Update to the latest version (including submodules)
+
+```bash
+git pull
+git submodule update --init
+```
+
+---
+
+## Docker Guide
+
+### Pull the image
+
+```bash
+docker compose pull
+```
+
+### Build the image locally
+
+```bash
+docker compose build
+```
+
+### Start a new container
+
+```bash
+docker compose run base
+```
+
+### Attach a new shell to an existing container
+
+```bash
+docker compose exec base bash
+```
+
+### Shutting down cleanly
+
+```bash
+docker compose down --remove-orphans
+```
+
+NOTE: This is needed because every time you run `docker compose run base`, a new container is created and may become "orphaned".
+You can alternatively use `docker compose up base` to avoid this, but it uses up one terminal.
+
+---
+
+## PyRoboSim Guide
+
+### Start a world
+
+```bash
+ros2 run delib_ws_worlds run --ros-args -p problem_number:=1
+```
+
+Change the `problem_number` argument above to launch different worlds.
+
+To edit existing worlds, refer to the `problems/delib_ws_worlds/worlds` folder in this repository.
+
+### Query an individual robot's state
+
+```bash
+ros2 topic echo /robot/robot_state
+```
+
+### Query the complete world's state
+
+```bash
+ros2 service call /request_world_state pyrobosim_msgs/srv/RequestWorldState {}
+```
+
+### Run an action with a specific robot
+
+Navigation example:
+
+```bash
+ros2 action send_goal /execute_action pyrobosim_msgs/action/ExecuteTaskAction "{action: {robot: 'robot', type: 'navigate', target_location: 'desk'}}"
+```
+
+Pick/place example:
+
+```bash
+ros2 action send_goal /execute_action pyrobosim_msgs/action/ExecuteTaskAction "{action: {robot: 'robot', type: 'pick', object: 'waste0'}}"
+
+ros2 action send_goal /execute_action pyrobosim_msgs/action/ExecuteTaskAction "{action: {robot: 'robot', type: 'place', object: 'waste0'}}"
+```
+
+### PyRoboSim display is frozen
+
+Sometimes, PyRoboSim's display may not update while a robot is actually moving.
+We are actively investigating this issue, but to manually "unstick" the GUI you can toggle the "Show collision polygons" checkbox to force the state to refresh.
+
+---
diff --git a/README.md b/README.md
index fd7916d..ccb1b23 100644
--- a/README.md
+++ b/README.md
@@ -125,3 +125,9 @@ Attach to the container as shown in the image below:
 ![vscode_attach.png](media/vscode_attach.png)
 
 Once inside the container, open the folder `/delib_ws/src`.
+
+---
+
+## More information and troubleshooting
+
+Once you are all set up, refer to the [cheatsheet](./CHEATSHEET.md) for more information, including useful commands and troubleshooting steps.