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

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

4 April 2025

Jad Abou-Chakra

Karl Schmeckpeper

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

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Title
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos Hanxiao Jiang Hao-Yu Hsu Kaifeng Zhang Hsin-Ni Yu Shenlong Wang Yunzhu Li VGen AI4CE 102 8 0 23 Mar 2025
Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping David Snyder Asher Hancock Apurva Badithela Emma Dixon Patrick Miller Rares Andrei Ambrus Anirudha Majumdar Masha Itkina Haruki Nishimura OffRL 179 1 0 14 Mar 2025
Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups Nicholas Pfaff Evelyn Fu Jeremy Binagia Phillip Isola Russ Tedrake 120 8 0 01 Mar 2025
Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision Alberta Longhini Marcel Büsching Bardienus P. Duisterhof Jens Lundell Jeffrey Ichnowski Mårten Björkman Danica Kragic 3DGS 65 4 0 03 Jan 2025
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 98 27 0 16 May 2024
How Generalizable Is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation Joseph A. Vincent Haruki Nishimura Masha Itkina Paarth Shah Mac Schwager Thomas Kollar OffRL 85 9 0 08 May 2024
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 349 1,242 0 07 Mar 2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer Allen Z. Ren Hongkai Dai Benjamin Burchfiel Anirudha Majumdar 75 15 0 09 Feb 2023
Vision-Based Manipulators Need to Also See from Their Hands Kyle Hsu Moo Jin Kim Rafael Rafailov Jiajun Wu Chelsea Finn 86 49 0 15 Mar 2022
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Joshua Tobin Rachel Fong Alex Ray Jonas Schneider Wojciech Zaremba Pieter Abbeel 269 2,976 0 20 Mar 2017