CLARU
projectsim2026cc-by-4.0

Real-to-Sim YAM Benchmark: scene splats

Two Gaussian-splat scenes for real-to-sim robot evaluation, comparing authored and default reconstructions built from handheld phone video using 3D and 2D Gaussian Splatting techniques.

Downloads20

Why This Matters for Physical AI

This dataset enables evaluation of how different scene reconstruction methods (3DGS vs 2DGS) impact real-to-sim transfer for robotic manipulation tasks in Isaac Sim.

Technical Profile

Modalities
rgbgaussian_splattingpoint_cloud
Environment
simulationlab
Task Types
robot_evaluation
Data Format
USD
Annotation Types
camera_posessegmentation
License
cc-by-4.0
Part of the Real-to-Sim YAM Benchmark family

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