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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
Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
Sizhe Yang, Wenye Yu, Jia Zeng +5
Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address th…