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arXiv · 2408.14873

Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation

Haozhe Lou·Yurong Liu·Yike Pan·Yiran Geng·Jianteng Chen·Wenlong Ma·Chenglong Li·Lin Wang·Hengzhen Feng·Lu Shi·Liyi Luo·Yongliang Shi
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Abstract

Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties of robots and the objects they manipulate. Existing methods lack a comprehensive solution to accurately reconstruct real-world objects with spatial representations and their associated physics attributes. We propose a Real2Sim pipeline with a hybrid representation model that integrates mesh geometry, 3D Gaussian kernels, and physics attributes to enhance the digital asset representation of robotic arms. This hybrid representation is implemented through a Gaussian-Mesh-Pixel binding technique, which establishes an isomorphic mapping between mesh vertices and Gaussian models. This enables a fully differentiable rendering pipeline that can be optimized through numerical solvers, achieves high-fidelity rendering via Gaussian Splatting, and facilitates physically plausible simulation of the robotic arm's interaction with its environment using mesh-based methods. The code,full presentation and datasets will be made publicly available at our website https://robostudioapp.com

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Haozhe Lou, Yurong Liu, Yike Pan, Yiran Geng, Jianteng Chen, Wenlong Ma, Chenglong Li, Lin Wang, Hengzhen Feng, Lu Shi, Liyi Luo, Yongliang Shi. 2024-08-27. Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation. https://arxiv.org/abs/2408.14873

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