3 papers
cs.RO2025
Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
Kaifeng Zhang, Shuo Sha, Hanxiao Jiang +7
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for task…
cs.RO2025
Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos
Kaifeng Zhang, Baoyu Li, Kris Hauser +1
Modeling the dynamics of deformable objects is challenging due to their diverse physical properties and the difficulty of estimating states from limited visual information. We addr…
cs.CV2025
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos
Hanxiao Jiang, Hao-Yu Hsu, Kaifeng Zhang +3
Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR. In this paper, we present PhysTwin, a novel framework that uses…