MicroPush: A Lightweight Simulator for Sim-to-Real Microrobotic Pushing and Assembly

arXiv:2602.23607 · cs.RO, cs.SY, eess.SY · Submitted 2026-02-27 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-02-27

Updated: 2026-09-21

Terminology

• Benchmark — 45× in this paper · explained in 2 episodes
• Core — 11× in this paper · explained in 2 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Robustness — 8× in this paper · explained in 5 episodes
• Benchmarking — 7× in this paper · explained in 3 episodes
• Calibration — 6× in this paper · explained in 7 episodes
• Analytic Geometry Planner — 3× in this paper
• Fidelity — 3× in this paper · explained in 2 episodes
• PID Controller — 3× in this paper · explained in 2 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Standardized Metrics — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Model Predictive Control — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Standardized Benchmarks — 1× in this paper · explained in 2 episodes

Sources

• Autonomous Vision-Based Magnetic Microrobotic Pushing of Micro-Objects and Cells
• robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
• Real-time autonomous magnetic microrobot navigation across dynamic and biologically relevant environments

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