Reddit user shares Gaussian splatting robot simulation workflow
What happened
Reddit user /u/zishansami102 shared a workflow on r/robotics for building a robot simulation environment based on augmentable Gaussian Splats. They said that because policies trained in animated simulation are difficult to transfer to real machines, they switched to using high-quality Gaussian splats of real sites to build a photorealistic simulation environment that is augmentable and relightable. The workflow, refined over hundreds of iterations, can convert an iPhone site scan into a splat plus mesh, and lets users select the assets they want the robot to manipulate, split them by unit to generate detailed assets, and then place them back in their original positions in the splat. Physics and rendering are done in MuJoCo Warp, and the robot used is a Franka Panda. The above results are all as described by the author.
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- Reddit r/roboticsBuilding photorealistic simulation environments with augmentable Gaussian splats to train robot policies
The author turned to high-quality Gaussian Splats of real sites to build augmentable, relightable photorealistic simulation environments, because policies trained in animated simulation were hard to transfer to real machines. The pipeline, refined over hundreds of iterations, converts iPhone scans into Splats plus meshes, selects robot-operable assets, and splits them by unit to generate detailed assets placed back at their original positions in the Splat. Physics and rendering use MuJoCo Warp, and the robot is a Franka Panda.
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