3 papers
cs.AI2026
GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models
Shuai Wang, Yaxin Feng, Xuekun Jiang +12
Physics engines facilitate large-scale training and evaluation for embodied intelligence, while generative video world models are emerging as implicit simulators of future states a…
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
Tac2Real: Reliable and GPU Visuotactile Simulation for Online Reinforcement Learning and Zero-Shot Real-World Deployment
Ningyu Yan, Shuai Wang, Xing Shen +4
Visuotactile sensors are indispensable for contact-rich robotic manipulation tasks. However, policy learning with tactile feedback in simulation, especially for online reinforcemen…