# The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales

arXiv: https://arxiv.org/abs/2310.08233 · HTML: https://mlsanity.com/paper/2310.08233/

## 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.

## Builds on (most cited first, 9 of 9)

- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [SAPIEN: A SimulAted Part-based Interactive ENvironment](https://mlsanity.com/paper/2003.08515/) (2020)
- [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://mlsanity.com/paper/2301.04195/) (2023)
- [GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning](https://mlsanity.com/paper/1810.05762/) (2018)
- [NeuralSim: Augmenting Differentiable Simulators with Neural Networks](https://mlsanity.com/paper/2011.04217/) (2020)
- [Factory: Fast Contact for Robotic Assembly](https://mlsanity.com/paper/2205.03532/) (2022)
- [Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact](https://mlsanity.com/paper/2103.16021/) (2021)
- [Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap](https://mlsanity.com/paper/2007.06045/) (2020)
- [Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration](https://mlsanity.com/paper/2205.14340/) (2022)

## 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.