Cover Image

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

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Lu, Jasper, Shen, Zhenhao, Wang, Yuanfei, Liu, Shugao, Xu, Shengqiang, Xie, Shawn, Xu, Jingkai, Jiang, Feng, Yang, Jade, Xie, Chen, Wu, Ruihai
Format:	Preprint
Published:	2026
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation
by: Jiang, Feng, et al.
Published: (2026)

HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
by: Shen, Zhenhao, et al.
Published: (2026)

LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios
by: Li, Zeyi, et al.
Published: (2026)

Automated Creation of Digital Cousins for Robust Policy Learning
by: Dai, Tianyuan, et al.
Published: (2024)

ChronoDreamer: Action-Conditioned World Model as an Online Simulator for Robotic Planning
by: Zhou, Zhenhao, et al.
Published: (2025)

The Simulation and Path Tracking Control Study of Magnetic Miniature Soft Robots
by: Sanxiu Wang, et al.
Published: (2025)

Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation
by: Zhu, Yixin, et al.
Published: (2026)

On the Evaluation of Generative Robotic Simulations
by: Chen, Feng, et al.
Published: (2024)

An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation
by: Shi, Lu, et al.
Published: (2025)

AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory
by: Lan, Zhiqian, et al.
Published: (2025)

SPECI: Skill Prompts based Hierarchical Continual Imitation Learning for Robot Manipulation
by: Xu, Jingkai, et al.
Published: (2025)

Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
by: Yin, Chenghao, et al.
Published: (2026)

DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation
by: Fu, Yuhui, et al.
Published: (2025)

GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitation
by: Wang, Zifan, et al.
Published: (2024)

SORS: A Modular, High-Fidelity Simulator for Soft Robots
by: Mekkattu, Manuel, et al.
Published: (2025)

Fiducial Marker Splatting for High-Fidelity Robotics Simulations
by: Tabaa, Diram, et al.
Published: (2025)

Underwater Robotic Simulators Review for Autonomous System Development
by: Aldhaheri, Sara, et al.
Published: (2025)

FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
by: Luo, Siyuan, et al.
Published: (2026)

Evaluation of Pedestrian Safety in a High-Fidelity Simulation Environment Framework
by: Ma, Lin, et al.
Published: (2022)

Analyzing the Impact of Simulation Fidelity on the Evaluation of Autonomous Driving Motion Control
by: Sagmeister, Simon, et al.
Published: (2026)

DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments
by: Jia, Yufei, et al.
Published: (2025)

PCASim: Promptable Closed-loop Adversarial Simulation for Urban Traffic Environment
by: Zhang, Chuancheng, et al.
Published: (2026)

Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks
by: Zheng, Zijie, et al.
Published: (2025)

AirSimAG: A High-Fidelity Simulation Platform for Air-Ground Collaborative Robotics
by: Cui, Yangjie, et al.
Published: (2026)

IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems
by: Liang, Qixin, et al.
Published: (2026)

Fast-SegSim: Real-Time Open-Vocabulary Segmentation for Robotics in Simulation
by: Yu, Xuan, et al.
Published: (2026)

ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
by: Tao, Stone, et al.
Published: (2024)

Adaptive Articulated Object Manipulation On The Fly with Foundation Model Reasoning and Part Grounding
by: Zhang, Xiaojie, et al.
Published: (2025)

Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations
by: Kich, Victor A., et al.
Published: (2024)

Fully Spiking Neural Network for Legged Robots
by: Jiang, Xiaoyang, et al.
Published: (2023)

A Study on the Use of Simulation in Synthesizing Path-Following Control Policies for Autonomous Ground Robots
by: Zhang, Harry, et al.
Published: (2024)

Structured Graph Network for Constrained Robot Crowd Navigation with Low Fidelity Simulation
by: Liu, Shuijing, et al.
Published: (2024)

InfiniteWorld: A Unified Scalable Simulation Framework for General Visual-Language Robot Interaction
by: Ren, Pengzhen, et al.
Published: (2024)

SmallSatSim: A High-Fidelity Simulation and Training Toolkit for Microgravity Robotic Close Proximity Operations
by: Schwartz, David, et al.
Published: (2026)

High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting
by: Zhao, Haoyu, et al.
Published: (2025)

GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins
by: Cai, Yichen, et al.
Published: (2026)

Generative Simulation for Policy Learning in Physical Human-Robot Interaction
by: Wang, Junxiang, et al.
Published: (2026)

AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning
by: Wang, Yuanfei, et al.
Published: (2025)

GENMANIP: LLM-driven Simulation for Generalizable Instruction-Following Manipulation
by: Gao, Ning, et al.
Published: (2025)

Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation
by: Xie, Senwei, et al.
Published: (2026)