ICRA 2026PastRoboticsGenerative models

Generative Digital Twins for Sim2Real and Real2Sim Transfer in Robotics

Real2Sim2Real

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Submission deadline: Mar 23, 2026, 15:00 UTC
OpenReview-synced 2026-03-23 15:00 UTC (as of 2026-06-23) — extensions on OpenReview are applied automatically; verify on the website.
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Accepted papers (25)

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

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
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
AIrchitect: Domain-Grounded Interactive 3D World Generation for Social Robotics
Volodymyr Shcherbyna, Do Duc Anh, Duc Tai Nguyen, Linh Kästner · PDF
CRAFT: Video Diffusion for Bimanual Robot Data Generation
Jason Chen, I-Chun Arthur Liu, Gaurav S. Sukhatme, Daniel Seita · PDF
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
Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven DLO Manipulation
Georgios Kamaras, Subramanian Ramamoorthy · PDF
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
GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins
Yichen Cai, Paul Jansonnie, Cristiana de Farias, Oleg Arenz, Jan Peters · PDF
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
Inference-Time Planning with Action-Conditioned Video Models for Generalizable Robot Manipulation
Zhiting Mei, Yanbo Xu, Tenny Yin, Ola Sho, Anirudha Majumdar · PDF
Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation
Jiahe Pan, Jiaxu Xing, Rudolf Reiter, Yifan Zhai, Elie Aljalbout, Davide Scaramuzza · PDF
LSD-3D: Large-Scale 3D Driving Scene Generation with Geometry Grounding
Julian Ost, Andrea Ramazzina, Amogh Joshi, Maximilian Bömer, Mario Bijelic, Felix Heide · PDF
Part-Tokenised Graph–Field Flow Matching for Coherent Physics-Grounded 3D Asset Generation
Jongmin Yu, Hyeontaek Oh, Zhongtian Sun, Anoushka Harit, Jinhong Yang · PDF
PersistGS: Differentiable Physics for Object Permanence in 4D Gaussian Splatting
Adrian Ramlal, John S. Zelek · PDF
Procedural Digital Cousins for Scalable Robot Learning in Space
Andrej Orsula, Ricard M Castan, Miguel Olivares-Mendez, Carol Martinez · PDF
REACT3D: Recovering Articulations for Interactive Physical 3D Scenes
Zhao Huang, Boyang Sun, Alexandros Delitzas, Jiaqi Chen, Marc Pollefeys · PDF
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
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
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
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
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
Swim2Real: VLM-Guided System Identification for Sim-to-Real Transfer
Kevin Qiu, Kyle L. Walker, Mike Yan Michelis, Marek Cygan, Josie Hughes · PDF
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
Verifying Digital-Twin Proxy Representations for Robust Sim2Real Locomotion Transfer
Chayanin Chamachot · PDF
Vid2Sid: Videos Can Help Close the Sim2Real Gap
Kevin Qiu, Yu Zhang, Marek Cygan, Josie Hughes · PDF

Accepted papers (25)

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

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

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

☆CRAFT: Video Diffusion for Bimanual Robot Data Generation

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

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

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

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

☆GSWorld: Closed-Loop Photorealistic Simulation Suite for Robotic Manipulation

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

☆Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

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

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

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

☆Procedural Digital Cousins for Scalable Robot Learning in Space

☆REACT3D: Recovering Articulations for Interactive Physical 3D Scenes

☆Reliable and Scalable Robot Policy Evaluation with Imperfect Simulators

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

☆SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation

☆SIMPACT: Simulation-Enabled Action Planning using Vision-Language Models

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

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

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

☆Verifying Digital-Twin Proxy Representations for Robust Sim2Real Locomotion Transfer

☆Vid2Sid: Videos Can Help Close the Sim2Real Gap

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

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

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

CRAFT: Video Diffusion for Bimanual Robot Data Generation

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

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

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

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

GSWorld: Closed-Loop Photorealistic Simulation Suite for Robotic Manipulation

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

Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

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

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

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

Procedural Digital Cousins for Scalable Robot Learning in Space

REACT3D: Recovering Articulations for Interactive Physical 3D Scenes

Reliable and Scalable Robot Policy Evaluation with Imperfect Simulators

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

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

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

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

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

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

Verifying Digital-Twin Proxy Representations for Robust Sim2Real Locomotion Transfer

Vid2Sid: Videos Can Help Close the Sim2Real Gap