SplatSim: ガウススプラッティングによるRGBマニピュレーションポリシーのゼロショットSim2Real転移
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting
シミュレータの描画にガウススプラッティングを採用し、フォトリアルな合成データでRGBベースのマニピュレーションポリシーを学習、実機へゼロショットで転移させて平均86.25%の成功率を達成した。
著者: Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandun, David Held, George Kantor, Abhisesh Silwal
分類: cs.RO, cs.AI, cs.CV, cs.LG
原文アブストラクト
Sim2Real transfer, particularly for manipulation policies relying on RGB images, remains a critical challenge in robotics due to the significant domain shift between synthetic and real-world visual data. In this paper, we propose SplatSim, a novel framework that leverages Gaussian Splatting as the primary rendering primitive to reduce the Sim2Real gap for RGB-based manipulation policies. By replacing traditional mesh representations with Gaussian Splats in simulators, SplatSim produces highly photorealistic synthetic data while maintaining the scalability and cost-efficiency of simulation. We demonstrate the effectiveness of our framework by training manipulation policies within SplatSim and deploying them in the real world in a zero-shot manner, achieving an average success rate of 86.25%, compared to 97.5% for policies trained on real-world data. Videos can be found on our project page: https://splatsim.github.io
