A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866916717807009792 |
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| author | Wong, Lik Hang Kenny Kang, Xueyang Bai, Kaixin Zhang, Jianwei |
| author_facet | Wong, Lik Hang Kenny Kang, Xueyang Bai, Kaixin Zhang, Jianwei |
| contents | Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the sim-to-real gap persists. This survey examines how physics simulators address this gap by analyzing their properties overlooked in previous surveys. We also analyze their features for navigation and manipulation tasks, along with hardware requirements. Additionally, we offer a resource with benchmark datasets, metrics, simulation platforms, and cutting-edge methods-such as world models and geometric equivariance-to help researchers select suitable tools while accounting for hardware constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_01458 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI Wong, Lik Hang Kenny Kang, Xueyang Bai, Kaixin Zhang, Jianwei Robotics Artificial Intelligence Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the sim-to-real gap persists. This survey examines how physics simulators address this gap by analyzing their properties overlooked in previous surveys. We also analyze their features for navigation and manipulation tasks, along with hardware requirements. Additionally, we offer a resource with benchmark datasets, metrics, simulation platforms, and cutting-edge methods-such as world models and geometric equivariance-to help researchers select suitable tools while accounting for hardware constraints. |
| title | A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2505.01458 |