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

August 31, 2026

-vision sim2real is an out-of-domain generalization problem

-not purely RGB, also uses EE pose and orientation

-given a Gaussian splat including a robot, use an expert for training RGB-based policies

-train BC policy with diffusion policy

-augmentations: Gaussian noise, random erasing, brightness adjustment, contrast adjustment / color jitter