SplatSim Demonstration Dataset

该数据集包含了四个现实世界操作任务的演示，这些演示是通过使用具有特权信息运动规划器的模拟器生成的。具体包括T-Push、捡起苹果等操作任务的演示，这些演示展现了在零样本迁移中的高保真度和高性能。该数据集是一个高质量、大规模的演示数据集，其特点是极少的人工输入。其任务旨在实现基于RGB图像的操作任务在零样本模拟到现实的迁移。

This dataset contains demonstrations of four real-world manipulation tasks, which are generated using a simulator equipped with a privileged information motion planner. Specifically, it includes demonstrations of tasks such as T-Push and Apple Pickup, which exhibit high fidelity and excellent performance in zero-shot transfer. This is a high-quality, large-scale demonstration dataset characterized by minimal human input. Its tasks aim to achieve zero-shot sim-to-real transfer for RGB image-based manipulation tasks.