A SOTA real2sim recipe for robotics: agents build sims with real physics and affordance
simonguozirui · x · 2026-10-06
The author argues that what robotics real2sim actually needs—beyond popular tools like Astra—is physics and affordance, and presents a SOTA recipe:
- Affordance: model object details that convey functionality, not just appearance.
- Physics: calibrate simulation dynamics against real-world observations and task-specific dynamics.
- The agent's action space is that of a "full-stack simulation engineer," jointly handling geometry, materials, colliders, articulation, and physics, auto-calibrated against real trajectories.
- Sims are only useful if they provide meaningful policy-level training signals; methods, comparisons, and results linked.
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