Simulation, Rendering
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Prior Availability in Industrial Visual Sim-to-Real: A Review of CAD-Guided and CAD-Unavailable Regimes
arXiv:2605.30581v1 Announce Type: new Abstract: Industrial visual sim-to-real is often described as transferring from synthetic images to real images, but industrial deployment usually involves a broader mismatch between available evidence and required decisions. A system may be built from CAD renderings, simulated RGB-D observations, normal reference images, synthetic defects, pretrained feature spaces, or language prompts, yet deployed under different sensors, lighting, materials,...
Prior Availability in Industrial Visual Sim-to-Real: A Review of CAD-Guided and CAD-Unavailable Regimes
arXiv:2605.30581v2 Announce Type: replace Abstract: Industrial visual sim-to-real is often described as transferring from synthetic images to real images, but industrial deployment usually involves a broader mismatch between available evidence and required decisions. A system may be built from CAD renderings, simulated RGB-D observations, normal reference images, synthetic defects, pretrained feature spaces, or language prompts, yet deployed under different sensors, lighting, materials,...
SC-MFJ: A Simple Haptic Quality Metric for Medical Image Segmentation
arXiv:2606.06199v1 Announce Type: new Abstract: Standard segmentation metrics such as Dice and Hausdorff distance measure geometric overlap but say nothing about whether a segmented surface is suitable for haptic rendering in surgical simulation. We propose SC-MFJ (Surface-Constrained Mean Force Jerk), a simple, inexpensive metric that samples a segmented organ surface with many short virtual stylus walks and measures how jerky the resulting contact forces are.
AGILE: Hand-Object Interaction Reconstruction from Video via Agentic Generation
arXiv:2602.04672v4 Announce Type: replace Abstract: Reconstructing dynamic hand-object interactions from monocular videos is critical for dexterous manipulation data collection and creating realistic digital twins for robotics and VR. However, current methods face two prohibitive barriers: (1) reliance on neural rendering often yields fragmented, non-simulation-ready geometries under heavy occlusion, and (2) dependence on brittle Structure-from-Motion (SfM) initialization leads to frequent...
Towards Realistic 3D Sonar Simulation
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Triangle Splatting SLAM
Announce Type: new Abstract: We present a dense RGB-D SLAM system using differentiable triangles as the 3D map representation. While 3D Gaussian Splatting has emerged as the leading method for novel-view synthesis, triangles remain the standard primitive for traditional rendering hardware, game engines, and downstream tasks requiring explicit geometry such as simulation, collision, and editing. Recent offline methods have demonstrated that an unstructured 'triangle soup' can be optimised...
GARDEN: Gravity-Aligned Reconstruction of Disentangled ENvironments from RGB images
arXiv:2606.03921v1 Announce Type: new Abstract: Converting multi-view RGB observations into simulation-ready 3D environments remains challenging because current reconstruction pipelines produce monolithic scene representations without explicit physical structure. They are typically defined up to an arbitrary global rotation and entangle rigid foreground objects with background geometry, which hinders stable physical interaction. Existing solutions often recover interactivity by replacing...
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation
arXiv:2606.08548v1 Announce Type: new Abstract: Recent progress in robot manipulation has been largely driven by learning from large-scale demonstrations. For humanoid robot loco-manipulation tasks, however, existing data sources force an unsatisfying tradeoff between trajectory quality and scalability.
WorldCoder-Bench: Benchmarking Physically Grounded 3D World Synthesis
arXiv:2606.01869v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly asked not only to write static interfaces, but to construct executable interactive worlds from natural language. Browser-native 3D, commonly built with Three.js, is a natural next frontier: generated programs must integrate assets, obey spatial and physical constraints, and keep user-facing controls synchronized with hidden runtime state. Existing web-generation benchmarks and evaluators, however,...
WorldCoder-Bench: Benchmarking Physically Grounded 3D World Synthesis
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