MrNeRF (@janusch_patas)
2024-11-19 | โค๏ธ 130 | ๐ 26
RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator
Contributions โข Realistic 3DGS-Based Simulator: We develop a 3DGS- based simulator that reconstructs scenes and objects with realistic textures from multi-view RGB videos. RoboGSim is optimized for some challenging conditions like weak textures, low light, and reflective surfaces.
โข Digital Twin System: We introduce the layout alignment module in the system. With the layout-aligned Isaac Sim, RoboGSim maps the physical interactions between objects and robotic arms from Real2Sim spaces.
โข Synthesizer and Evaluator: RoboGSim can synthesize the realistic manipulated demonstrations with novel scenes, views, and objects for policy learning. It can also work as the Evaluator to perform model evaluation in a physics-consistent manner
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