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cs.RO2026
SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds
Yunsong Zhou, Hangxu Liu, Xuekun Jiang +12
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the varia…
cs.RO2026
SoMA: A Real-to-Sim Neural Simulator for Robotic Soft-body Manipulation
Mu Huang, Hui Wang, Kerui Ren +5
Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and…
cs.RO2025
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation
Hangyu Li, Qin Zhao, Haoran Xu +10
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully a…