mmahdavian/isaac_sim_from_real

Isaac Sim from Real

110 MP4 videos: 105 simulated videos and 5 corresponding real recordings from episodes 0, 10, 16, 27, and 36 of the October 20, 2026 UR5e cup-placement dataset.

The simulated set contains 5 baseline replays, 50 clutter augmentations, and 50 obstacle augmentations. Each episode has one baseline, ten clutter variants, and ten obstacle variants. Total MP4 size: 624.7 MB.

Episode	Real video	Simulated baseline	Augmentations
0	Real recording	Baseline	All 21 simulated videos
10	Real recording	Baseline	All 21 simulated videos
16	Real recording	Baseline	All 21 simulated videos
27	Real recording	Baseline	All 21 simulated videos
36	Real recording	Baseline	All 21 simulated videos

Contents

• real/episodeNNNN.mp4: the corresponding real recording, with wall, wrist, and body-forward views arranged left to right (1920 × 480, 15 fps). All source frames are included. These are viewing exports from the original recordings, not new real-world executions of the augmented tasks.
• real/episodeNNNN.timestamps.csv: original frame timing; MP4 playback uses the nominal 15 fps recording rate.
• simulated/episodeNNNN/baseline.mp4: the recorded robot commands replayed in simulation.
• simulated/episodeNNNN/clutter_00.mp4 through clutter_09.mp4: added tabletop objects with the original recorded commands.
• simulated/episodeNNNN/obstacle_00.mp4 through obstacle_09.mp4: obstacles requiring changed behavior. Across the set, 17 use detours and 33 clear an obstruction before continuing.
• Adjacent JPG files show initial, intermediate, and final frames. Simulated MP4s are 640 × 480 at 15 fps.
• manifest.json and videos.csv: file inventory, real/simulation pairing, scenarios, durations, sizes, and SHA-256 hashes.
• SHA256SUMS: file checksums.

Appearance and provenance

Robot and task objects are rendered 3D models with simulated motion and physical contacts. Room/cart backgrounds use static photographs from the real recordings mapped onto approximate surfaces. The table texture combines observed wood from recordings of the same workcell. The background is not a complete 3D room reconstruction, and novel viewpoints can expose projection errors. The real videos and simulated videos are related source/replay examples, not guaranteed frame-aligned pairs. These five recordings were used for reconstruction and replay; no held-out test split is claimed.

The simulated videos are the completed augmentation_105_realistic_v2_20261022 batch. Its stored automated audit reports 105 accepted videos. Real exports were fully decoded and their frame counts checked against the original HDF5 recordings before upload.

Textured prop sources: Poly Haven. Individual source URLs and source asset licenses are listed in asset_credits.json. Those asset licenses do not assign a license to the real recordings or the entire dataset.