mlsanityData to 14 Oct 2026

RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks

arXiv 2610.18835 ↗First posted 13 Oct 2026cs.RO cs.AI cs.GRcited by 0

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Abstract (arXiv)

It has been difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, deformations, stiffness and friction. We present RoboSimStudio (RSS), an interactive toolkit that makes choices of solver, contact model, and physical parameters explicit and editable, allowing both humans and coding agents to quickly create and iteratively refine simulations based on observed physical behavior. We implement RSS with the open Newton physics simulation system and describe experiments with human-guided real2sim using (1) visual evaluation, (2) force-feedback and (3) agentic Real2Sim2Real. Code, video and additional information can be found on the project website: https://robosimstudio.github.io

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 41 of its 56 references that are in the map. First posted on arXiv 13 Oct 2026.

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41 of 56 references.

References · 41

  1. 2022ReAct: Synergizing Reasoning and Acting in Language Modelscited by 8,695
  2. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,348
  3. 2024SWE-agent: Agent-Computer Interfaces Enable Automated Software Engineeringcited by 1,737
  4. 2022Code as Policies: Language Model Programs for Embodied Controlcited by 1,210
  5. 2022Inner Monologue: Embodied Reasoning through Planning with Language Modelscited by 1,081
  6. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  7. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 750
  8. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 611
  9. 2023Eureka: Human-Level Reward Design via Coding Large Language Modelscited by 571
  10. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 511
  11. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 495
  12. 2023Language to Rewards for Robotic Skill Synthesiscited by 312
29 more
  1. 2023ChatGPT for Robotics: Design Principles and Model Abilitiescited by 299
  2. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 295
  3. 2023Holodeck: Language Guided Generation of 3D Embodied AI Environmentscited by 268
  4. 2023RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulationcited by 218
  5. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulatorscited by 189
  6. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulationcited by 144
  7. 2024URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Imagescited by 111
  8. 2024Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Modelcited by 96
  9. 2024Automated Creation of Digital Cousins for Robust Policy Learningcited by 91
  10. 2026CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulationcited by 88
  11. 2024AutoRT: Embodied Foundation Models for Large Scale Orchestration of Robotic Agentscited by 87
  12. 2024DrEureka: Language Model Guided Sim-To-Real Transfercited by 83
  13. 2024Real2Code: Reconstruct Articulated Objects via Code Generationcited by 69
  14. 2024SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splattingcited by 69
  15. 2026ASPIRE: Agentic /Skills Discovery for Roboticscited by 53
  16. 2023cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generationcited by 52
  17. 2024GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMscited by 52
  18. 2026ENPIRE: Agentic Robot Policy Self-Improvement in the Real Worldcited by 38
  19. 2025PyRoki: A Modular Toolkit for Robot Kinematic Optimizationcited by 30
  20. 2025Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videoscited by 26
  21. 2025Viser: Imperative, Web-based 3D Visualization in Pythoncited by 23
  22. 2024Blox-Net: Generative Design-for-Robot-Assembly Using VLM Supervision, Physics Simulation, and a Robot with Resetcited by 15
  23. 2026GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Taskscited by 14
  24. 2025Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robotscited by 9
  25. 2024Vertex Block Descentcited by 6
  26. 2026Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agentscited by 4
  27. 2026RoboVista: Evaluating Vision Language Models for Diverse Robot Applicationscited by 2
  28. 2026Revisiting the "Push-T" Robot Manipulation Task with Agentic Roboticscited by 1
  29. 2026DexAgent: An Agentic Human2Sim2Robot Framework for Dexterous Manipulation with Self-Evolving Tool Librarycited by 1

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  1. 2026HapticWorld: an Interactive World Simulator with Real-time Torque Feedback ↗
  2. 2026ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction
  3. 2026RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World? ↗
  4. 2026Real2Gym: Building Gyms from Videos, Bringing Skills to Robots
  5. 2026Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation ↗
  6. 2026One-Shot Learning from Demonstration of Contact-Rich Robotic Manipulation by Identifying Physical Interactions
  7. 2026Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
  8. 2026DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulation ↗