ManipAsInSim's Sim-to-Real Tutorial

ManipAsInSim includes a complete sim-to-real pipeline for robotic manipulation, covering scene construction with precise asset positioning, camera calibration through differentiable rendering optimization, large-scale data generation using WBCMimicGen for trajectory augmentation, and imitation learning deployment with real-time inference—enabling robots to learn complex manipulation tasks in simulation and successfully transfer them to the real world.

Complete Sim-to-Real Pipeline

Four-stage pipeline: from scene construction to real-world deployment

Getting Started

Follow our four-stage pipeline to implement sim-to-real transfer for your robotic manipulation tasks:

• 1 Task and Scene Construction - Build high-fidelity simulation environments
• 2 Camera Calibration - Align visual observations between sim and real
• 3 Data Generation - Create diverse training data with WBCMimicGen
• 4 Imitation Learning & Deployment - Train and deploy policies in real world

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