Generative Digital Twins for Sim2Real and Real2Sim Transfer in Robotics

Accepted papers (25)

Fetched from OpenReview (v2) on 2026-06-10.

1. A Digital Twin-driven Intelligent Inspection Robotic System for Elevator Buffer in Confined Hazardous Space

   Zhiyong Hu, Xuan Wang, Qingyuan Guo, Jing Bian, HongChen Liu, Jinkang Hu · PDF

2. A Real2Sim Digital Twin Pipeline for Photorealistic Robot Simulation: Evaluating VLA Policy Deployment on a Bimanual Mobile Robot

   Jasmin Lin, David Keetae Park, Carlos Xavier Soto, Shinjae Yoo, Wei Xu · PDF

3. AIrchitect: Domain-Grounded Interactive 3D World Generation for Social Robotics

   Volodymyr Shcherbyna, Do Duc Anh, Duc Tai Nguyen, Linh Kästner · PDF

4. CRAFT: Video Diffusion for Bimanual Robot Data Generation

   Jason Chen, I-Chun Arthur Liu, Gaurav S. Sukhatme, Daniel Seita · PDF

5. DexNinja: Learning Robust Dexterous Cutting Policy with a Real-to-Sim-to-Real Data Engine

   Haozhe Lou, Runyi Yang, Wanqi Zhong, Caiyun Liu, Yicheng Liu, Wenhao Liu, Wenlong Ma, Jiawei Xia, Xu Zheng, Danda Pani Paudel, Luc Van Gool, Hang Zhao, Yiming Li · PDF

6. Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven DLO Manipulation

   Georgios Kamaras, Subramanian Ramamoorthy · PDF

7. From Seeing to Simulating: Generative High-Fidelity Simulation with Digital Cousins for Generalizable Robot Learning and Evaluation

   Jasper Lu, Zhenhao Shen, Yuanfei Wang, Shugao Liu, Shengqiang Xu, Shawn Xie, Jingkai Xu, Feng Jiang, Jade Yang, Ruihai Wu · PDF

8. GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins

   Yichen Cai, Paul Jansonnie, Cristiana de Farias, Oleg Arenz, Jan Peters · PDF

9. GSWorld: Closed-Loop Photorealistic Simulation Suite for Robotic Manipulation

   Guangqi Jiang, Haoran Chang, Ri-Zhao Qiu, Yutong Liang, Mazeyu Ji, Jiyue Zhu, Zhao Dong, Xueyan Zou, Xiaolong Wang · PDF

10. Inference-Time Planning with Action-Conditioned Video Models for Generalizable Robot Manipulation

    Zhiting Mei, Yanbo Xu, Tenny Yin, Ola Sho, Anirudha Majumdar · PDF

11. Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

    Jiahe Pan, Jiaxu Xing, Rudolf Reiter, Yifan Zhai, Elie Aljalbout, Davide Scaramuzza · PDF

12. LSD-3D: Large-Scale 3D Driving Scene Generation with Geometry Grounding

    Julian Ost, Andrea Ramazzina, Amogh Joshi, Maximilian Bömer, Mario Bijelic, Felix Heide · PDF

13. Part-Tokenised Graph–Field Flow Matching for Coherent Physics-Grounded 3D Asset Generation

    Jongmin Yu, Hyeontaek Oh, Zhongtian Sun, Anoushka Harit, Jinhong Yang · PDF

14. PersistGS: Differentiable Physics for Object Permanence in 4D Gaussian Splatting

    Adrian Ramlal, John S. Zelek · PDF

15. Procedural Digital Cousins for Scalable Robot Learning in Space

    Andrej Orsula, Ricard M Castan, Miguel Olivares-Mendez, Carol Martinez · PDF

16. REACT3D: Recovering Articulations for Interactive Physical 3D Scenes

    Zhao Huang, Boyang Sun, Alexandros Delitzas, Jiaqi Chen, Marc Pollefeys · PDF

17. Reliable and Scalable Robot Policy Evaluation with Imperfect Simulators

    Apurva Badithela, David Snyder, Lihan Zha, Joseph Mikhail, Matthew O'Kelly, Anushri Dixit, Anirudha Majumdar · PDF

18. Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks

    Jan Schneider, Mridul Mahajan, Le Chen, Simon Guist, Bernhard Schölkopf, Ingmar Posner, Dieter Büchler · PDF

19. SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation

    Nadun Ranawaka Arachchige, Josiah Wong, Wei-Lin Pai, Wei-Teng Chu, Tianyuan Dai, Masoud Moghani, Hang Yin, Yunfan Jiang, Wesley Durbano, Brandon Bryce Huynh, Linxi Fan, Danfei Xu, Ruohan Zhang, Li Fei-Fei, Bowen Wen, Ajay Mandlekar, Yuke Zhu · PDF

20. SIMPACT: Simulation-Enabled Action Planning using Vision-Language Models

    Haowen Liu, Shaoxiong Yao, Haonan Chen, Jiawei Gao, Jiayuan Mao, Jia-Bin Huang, Yilun Du · PDF

21. Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization

    Wei-Cheng Huang, Jiaheng Han, XIAOHAN YE, zherong pan, Kris Hauser · PDF

22. Swim2Real: VLM-Guided System Identification for Sim-to-Real Transfer

    Kevin Qiu, Kyle L. Walker, Mike Yan Michelis, Marek Cygan, Josie Hughes · PDF

23. V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors

    Songjia He, Zixuan Chen, Hongyu Ding, Dian Shao, Jieqi Shi, Chenxu Li, Jing Huo, Yang Gao · PDF

24. Verifying Digital-Twin Proxy Representations for Robust Sim2Real Locomotion Transfer

    Chayanin Chamachot · PDF

25. Vid2Sid: Videos Can Help Close the Sim2Real Gap

    Kevin Qiu, Yu Zhang, Marek Cygan, Josie Hughes · PDF