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📄 Abstract
Abstract: This paper presents GSWorld, a robust, photo-realistic simulator for robotics
manipulation that combines 3D Gaussian Splatting with physics engines. Our
framework advocates "closing the loop" of developing manipulation policies with
reproducible evaluation of policies learned from real-robot data and sim2real
policy training without using real robots. To enable photo-realistic rendering
of diverse scenes, we propose a new asset format, which we term GSDF (Gaussian
Scene Description File), that infuses Gaussian-on-Mesh representation with
robot URDF and other objects. With a streamlined reconstruction pipeline, we
curate a database of GSDF that contains 3 robot embodiments for single-arm and
bimanual manipulation, as well as more than 40 objects. Combining GSDF with
physics engines, we demonstrate several immediate interesting applications: (1)
learning zero-shot sim2real pixel-to-action manipulation policy with
photo-realistic rendering, (2) automated high-quality DAgger data collection
for adapting policies to deployment environments, (3) reproducible benchmarking
of real-robot manipulation policies in simulation, (4) simulation data
collection by virtual teleoperation, and (5) zero-shot sim2real visual
reinforcement learning. Website: https://3dgsworld.github.io/.
Authors (9)
Guangqi Jiang
Haoran Chang
Ri-Zhao Qiu
Yutong Liang
Mazeyu Ji
Jiyue Zhu
+3 more
Submitted
October 23, 2025
Key Contributions
GSWorld is a novel photo-realistic simulation suite for robotic manipulation that integrates 3D Gaussian Splatting with physics engines. It introduces the GSDF asset format for creating diverse, realistic scenes and enables closed-loop development, facilitating zero-shot sim-to-real policy learning and reproducible evaluation without requiring real robots.
Business Value
Significantly accelerates the development and deployment of robotic manipulation systems by providing a highly realistic and versatile simulation environment, reducing the need for expensive real-world testing and data collection.