SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting

August 2025

SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting


Abstract:

Sim2Real transfer, particularly for manipulation policies relying on RGB images, remains a critical challenge in robotics due to the significant domain shift between synthetic and real-world visual data. In this work, we propose SplatSim, a novel framework that leverages Gaussian Splatting as the primary rendering primitive to reduce the Sim2Real gap for RGB-based manipulation policies. By replacing traditional mesh representations with Gaussian Splats in simulators, SplatSim produces highly photorealistic synthetic data while maintaining the scalability and cost-efficiency of simulation. We demonstrate the effectiveness of our framework by training manipulation policies within SplatSim and deploying them in the real world in a zero-shot manner, achieving an average success rate of 86.25%, compared to 97.5% for policies trained on real-world data.

Notes:

@mastersthesis{Qureshi-2025-148217,
author = {Mohammad Nomaan Qureshi},
title = {SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting},
year = {2025},
month = {August},
school = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-25-54},
keywords = {Sim2Real, Robot Manipulation, Real2Sim},
}
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