---
license: cc-by-4.0
task_categories:
  - robotics
tags:
  - cloth-simulation
  - sim-to-real
  - point-cloud
  - benchmark
size_categories:
  - 1K<n<10K
---

# RGBench Cloth Sim-to-Real (v1)

🌐 Project page: <https://rgbench.github.io/>  ·  📦 Code: <https://github.com/hwk0809/RGBench>

Nine carefully captured garments — three bimanual manipulation actions
each (fling / fold / grasp) — with **real-world ground truth point
clouds** for evaluating any cloth simulator's sim-to-real gap. Released
as the evaluation half of the AAAI 2026 paper *[Real Garment Benchmark
(RGBench)](https://rgbench.github.io/)*.

The larger 6 000+ garment-mesh asset library and the GarmentDynamics
simulator from the paper are on their way to open-sourcing in follow-up
releases. This dataset is the piece you need to **benchmark any cloth
simulator against real captured dynamics today**.

## Contents

| Path | What's inside |
| --- | --- |
| `<garment>/<garment>_<action>_<ts>/calibration/` | Camera extrinsics, initial object pose |
| `<garment>/<garment>_<action>_<ts>/joints/` | Bimanual robot joint + end-effector CSVs |
| `<garment>/<garment>_<action>_<ts>/segment_pcds/` | Segmented cloth point clouds (cloth-only, world frame after extrinsics) |
| `meshes/<Garment>/*.obj`, `*.usda` | Cloth garment meshes used by the simulators |

9 garments × {grasp, fold, fling} actions, captured with a Piper bimanual
gripper and a RealSense D455. ~100 evaluation samples in total. Two
garments (`grey_sunwear`, `khaki_blazer`) have non-manifold meshes and
are **not** part of the paper's published baselines — see the
[results/](https://github.com/hwk0809/RGBench/tree/main/results) folder
in the GitHub repo for the published baseline numbers and the
methodology note.

Garment meshes ship in four resolutions for `green_tshirt` (5k / 10k /
20k / 40k triangles) under `meshes/Green_Tshirt_Compare/` so researchers
can study how cloth mesh resolution affects sim-to-real fidelity.

## Quickstart

```bash
git clone https://github.com/hwk0809/RGBench
cd RGBench
bash setup.sh                       # installs deps + downloads this dataset
make benchmark sim=pybullet         # runs the smoke-test sample
```

If you only want to fetch the data:

```bash
pip install huggingface_hub
python -m huggingface_hub.commands.huggingface_cli download \
    hwk0809/RGBench-Cloth-Sim2Real-v1 --repo-type dataset \
    --local-dir ./data/sample
```

## Licensing

- **Data**: CC-BY 4.0 — attribution required, commercial use permitted.
- **Code (benchmark)**: MIT — see the [RGBench repo](https://github.com/hwk0809/RGBench).

## Citation

If you use this dataset, please cite the AAAI 2026 paper:

```bibtex
@inproceedings{hu2026rgbench,
  title     = {Real Garment Benchmark ({RGBench}): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator},
  author    = {Hu, Wenkang and Tang, Xincheng and E, Yanzhi and Li, Yitong and Shu, Zhengjie and Li, Wei and Wang, Huamin and Yang, Ruigang},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence},
  year      = {2026},
  url       = {https://rgbench.github.io/}
}
```