GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data

- combination of sim and real could help train robust grasping policy
- engineering example of pi-0 policy (VLM + flow matching)

#arxiv #grasp #simulation #sim2real #flow_matching

X Overview, Project Website, NVidia GraspGen

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Tuo Liu (@TuoLiuRobot)

Galbot（银河通用）has just dropped GraspVLA, the world’s first end-to-end embodied grasping model! Trained on over a billion “visual-language-action” pairs, GraspVLA is ready to handle a wide range of tasks, even the unexpected ones.

And with a little post-training…

Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin for Real-World Robot Policy Evaluation

- Incorporate previous work embodied gaussians as a novel representation of the real world
- using gaussian splatting and warp to reconstruct the scene in simulation

#arxiv #simulation #reconstruction

X Overview, Project Website, Embodied Gaussians

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Jad Abou-Chakra (@jadachakra)

1/ Real2Sim and Sim2Real are well-known paradigms in robotics🤖. Is there another paradigm where sim and the real world are more tightly interlinked? We introduce Real-IS-Sim: a framework featuring an always-in-the-loop, correctable simulator for behavior…

PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos

- utilize scene reconstruction to create digital twin
- using warp as the simulation pipeline

#arxiv #deformable #reconstruction #simulation

X Overview, Project Link, Arxiv Link

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Hanxiao Jiang (@jiang_hanxiao)

🚀 How can we create interactive Physical Digital Twins from videos?

Thrilled to share our latest work: PhysTwin! 🌟 Using inverse physics optimization, we generate photo-realistic, physically accurate, and real-time interactive virtual replicas. 🔥

🔗http…