Embodied AI Reading Notes (@EmbodiedAIRead)
2025-11-17 | โค๏ธ 65 | ๐ 8
GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
Project:ย https://3dgsworld.github.io/ Paper:ย https://arxiv.org/abs/2510.20813
This new work explores the idea to combine 3D Gaussian Splatting with physics engine to provide a more photo-realistic simulation for training robot manipulation policies.
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Real-to-sim: by reconstructing a digital twin from multi-view captures using Gaussian Splatting, authors can infuse Gaussian-on-Mesh representation into a Gaussian Scene Description File to curate scene datasets with robot URDF and photo-realistic objects.
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Sim-to-real: Using the 3D Gaussian Splatting representation, policies can perceive photo-realistic renderings while issuing controls in robotโs native space inside a simulator that mirrors real scenes closely to support zero-shot transfer and efficient adaptation.
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The authors mention applications of the workflow in virtual teleoperation, visual imitation learning, visual RL, and closed-loop DAGGER learning with visual benchmarking.
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