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RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator
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Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner. Sampling the episodes under a simulated environment is a promising way for large-scale collection while existing simulators fail to high-fidelity modeling on texture and physics. To address these limitations, we introduce the RoboGSim, a real2sim2real robotic simulator, powered by 3D Gaussian Splatting and the physics engine. RoboGSim mainly includes four parts: Gaussian Reconstructor, Digital Twins Builder, Scene Composer, and Interactive Engine. It can synthesize the simulated data with novel views, objects, trajectories, and scenes. RoboGSim also provides an online, reproducible, and safe evaluation for different manipulation policies. The real2sim and sim2real transfer experiments show a high consistency in the texture and physics. We compared the test results of RoboGSim data and real robot data on both RoboGSim and real robot platforms. The experimental results show that the RoboGSim data model can achieve zero-shot performance on the real robot, with results comparable to real robot data. Additionally, in experiments with novel perspectives and novel scenes, the RoboGSim data model performed even better on the real robot than the real robot data model. This not only helps reduce the sim2real gap but also addresses the limitations of real robot data collection, such as its single-source and high cost. We hope RoboGSim serves as a closed-loop simulator for fair comparison on policy learning. More information can be found on our project page https://robogsim.github.io/.
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Cited by 12 Pith papers
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AntiGrounding: Lifting Robotic Actions into VLM Representation Space for Decision Making
AntiGrounding lifts candidate robot trajectories into the VLM's visual space via multi-view rendering and structured VQA, and reports 57.5% average success across eight manipulation tasks, beating three intermediate-r...
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DSG-World: Learning a 3D Gaussian World Model from Dual State Videos
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Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance
The viewpoint-agnostic grasp pipeline using VLM and partial observation handling achieves 90% success (9/10 trials) in cluttered tabletop scenarios on a real quadruped robot, outperforming a view-dependent baseline at...
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HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation
HERMES converts a single human motion demonstration into a deployable mobile bimanual dexterous manipulation policy, using RL, depth-image distillation, and closed-loop PnP pose refinement.
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Scan, Materialize, Simulate: A Generalizable Framework for Physically Grounded Robot Planning
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Re$^3$Sim: Generating High-Fidelity Simulation Data via 3D-Photorealistic Real-to-Sim for Robotic Manipulation
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