README.md

DeformGen SimAssets

This repository contains the simulation assets and formal demonstrations required by DeformGen but not stored in the source-code repository.

Contents

• cloth3/: Cloth3 Gaussian Splatting assets, PhysTwin checkpoint, optimized parameters, shared scene assets, and a config snapshot.
• demos/: formal replay trajectories required by the default state-perturbation profiles:
  • log/policy_rollouts/rope_act_7000 for rope
  • log/dataset/teleop_replay_005_sloth_grasp_shift_s5a3f2_segmentxy_keepoffset for sloth
  • log/dataset/teleop_run_007_clean_noleading_interp80_trim_norelease for cloth3

Rope and sloth Gaussian Splatting / PhysTwin assets remain in the upstream MIT-licensed real2sim-eval Hugging Face repositories. Use the DeformGen installer rather than manually arranging paths:

deformgen-fetch sim-assets --case all --repo-root /path/to/DeformGen

The installer reads the fixed source revisions in assets/sources.yaml, downloads the required assets into ~/.cache/deformgen, and creates local links under the checkout's log/ directory.

Paper

If you use these artifacts, please cite the DeformGen paper:

• Paper: https://arxiv.org/abs/2606.25939