The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales
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Abstract (arXiv)
This work evaluates the impact of time step frequency and component scale on robotic manipulation simulation accuracy. Increasing the time step frequency for small-scale objects is shown to improve simulation accuracy. This simulation, demonstrating pre-assembly part picking for two object geometries, serves as a starting point for discussing how to improve Sim2Real transfer in robotic assembly processes.
Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 9 of its 18 references that are in the map. First posted on arXiv 12 Oct 2023.
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9 of 18 references.
References · 9
- 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
- 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
- 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 295
- 2018GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learningcited by 90
- 2020NeuralSim: Augmenting Differentiable Simulators with Neural Networkscited by 82
- 2022Factory: Fast Contact for Robotic Assemblycited by 54
- 2021Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contactcited by 52
- 2020Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gapcited by 9
- 2022Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaborationcited by 1
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