YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation
Paper • 2610.17521 • Published
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Real2Sim policies
Three pi0.5 policy checkpoints evaluated by Real2Sim, which runs openpi pi0.5 policies on a Franka FR3 arm with the bimanual YUBI gripper in the MuJoCo simulator, against photorealistic 3D Gaussian Splatting backgrounds. Weights only: no optimiser or training state, and no tokenizer (openpi downloads the PaliGemma tokenizer on first use).
- Paper: arXiv:2610.17521
- Code: the Real2Sim repository (link to follow)
- Scenes and meshes:
airoa-org/yubi-real2sim-assets
| Folder | Policy | Training step | Profile token | Release profiles |
|---|---|---|---|---|
pi05_box_bs/ |
box packing, baseline | 80,000 | box80k |
12: every rig, room and task |
pi05_box_ct/ |
box packing, contact-dimension variant | 80,000 | cd80k |
8: every rig and room, box tasks |
pi05_cup/ |
cup on plate | 4,000 | cup1trim |
4: every rig and room, cup task |
Each folder contains:
| File | Content |
|---|---|
params/ |
Model weights (Orbax OCDBT checkpoint) |
assets/<name>/norm_stats.json |
Action/state normalisation statistics read by openpi at inference time |
prompt.yaml |
Task instructions the policy was trained with (pi05_box_bs, pi05_box_ct) |
_CHECKPOINT_METADATA |
Orbax checkpoint metadata |
LICENSE |
Copy of the Gemma Terms of Use |
GEMMA_PROHIBITED_USE_POLICY.txt |
Copy of the Gemma Prohibited Use Policy |
LICENSE-APACHE-2.0 |
Apache License 2.0 (licence of openpi and of its pi0.5 model) |
NOTICE |
Required Gemma notice, use restrictions, modification notice and attribution |
README.txt |
Description of the folder |
Download
# one policy (about 12 GB)
hf download airoa-org/yubi-real2sim-policies --include "pi05_cup/*" --local-dir yubi-real2sim-policies
# all three (about 37 GB)
hf download airoa-org/yubi-real2sim-policies --local-dir yubi-real2sim-policies
The Real2Sim installer (scripts/download_public_assets.py --profile <profile>) downloads only the policies and scenes
a profile needs and places them under $REAL2SIM_INPUTS_ROOT/checkpoints/<name>.
Origin
pi0.5 vision-language-action policies fine-tuned by AIRoA with openpi from Physical Intelligence's pi0.5 model, on AIRoA robot demonstration data recorded with the YUBI gripper.
License
The weights contain a PaliGemma model, so each checkpoint is a Model Derivative of Gemma and is distributed under the
Gemma Terms of Use (LICENSE in each folder). Use is subject to the
Gemma Prohibited Use Policy. The pi0.5 model and openpi are
licensed by Physical Intelligence under the Apache License 2.0 (LICENSE-APACHE-2.0). See NOTICE in each folder.
Gemma is provided under and subject to the Gemma Terms of Use found at ai.google.dev/gemma/terms.
Citation
@article{nishizawa2026yubi,
title={YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation},
author={Nishizawa, Hiroki and Ohkawa, Takehiko and Scianca, Nicola and Matsushima, Tatsuya and Morishima, Shigeo and Ota, Kei},
journal={arXiv preprint arXiv:2610.17521},
year={2026}
}