CLARU
projectsim2026cc-by-4.0

Real-to-Sim YAM Benchmark: authored assets

Sixteen sim-ready 3D object assets reconstructed from photographs for real-to-sim robot manipulation evaluation, with physics properties including mass, friction, and restitution for tabletop tasks.

Downloads113

Why This Matters for Physical AI

This dataset enables reproducible real-to-sim transfer evaluation by providing accurately reconstructed 3D object assets with calibrated physics properties, critical for benchmarking robotic manipulation algorithms across the reality gap.

Technical Profile

Modalities
3d_meshusdpbr_textures
Environment
simulationtabletop
Task Types
manipulationgraspingpick_and_placestackingpouring
Data Format
USD
Annotation Types
physics_propertiesmaterial_classificationcollision_geometry
License
cc-by-4.0
Part of the Real-to-Sim YAM Benchmark family

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