外观
论文arXiv 2610.1883515 天前
RoboSimStudio：用于机器人操作任务中人类与智能体快速 Real2Sim 的交互式工具包
原文链接：RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks（arXiv 2610.18835 · 发布日期：2026-10-13）
RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks
RoboSimStudio通过可编辑求解器、接触模型和物理参数，帮助人类与编码智能体快速构建并迭代机器人操作仿真。
核心要点
- 动机是机器人与被操作物体的接触力学、耦合接触动力学、形变、刚度和摩擦难以精确建模。
- RSS将求解器、接触模型和物理参数的选择显式化并可编辑，支持基于观测物理行为迭代细化仿真。
- 该工具基于开放的Newton物理仿真系统实现，并描述了人类引导的real2sim实验。
- 项目网站提供代码、视频和更多信息。
验证范围与局限：验证范围为人类引导的real2sim实验，包括视觉评估、力反馈和agentic Real2Sim2Real。
英文摘要 (Abstract)
It has been difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, deformations, stiffness and friction. We present RoboSimStudio (RSS), an interactive toolkit that makes choices of solver, contact model, and physical parameters explicit and editable, allowing both humans and coding agents to quickly create and iteratively refine simulations based on observed physical behavior. We implement RSS with the open Newton physics simulation system and describe experiments with human-guided real2sim using (1) visual evaluation, (2) force-feedback and (3) agentic Real2Sim2Real. Code, video and additional information can be found on the project website: https://robosimstudio.github.io
作者：Kaiyuan Chen, Shuangyu Xie, Uksang Yoo, Xinyue Zhu, Cael Magner, Alvin Zhu, Daehwa Kim, Eric Heiden, Erwin Coumans, Miles Macklin
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