Function-Preserving Data Generation for Zero-Shot Real-to-Sim-to-Real Manipulation

arXiv:2609.18293 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Project page: https://fpsa-r2s2r.github.io

Terminology

• Generalization — 13× in this paper · explained in 13 episodes
• Calibration — 11× in this paper · explained in 7 episodes
• Fidelity — 7× in this paper · explained in 2 episodes
• Alignment — 6× in this paper · explained in 1 episode
• Robustness — 5× in this paper · explained in 5 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Affordance — 3× in this paper · explained in 1 episode
• Gaussian Splatting — 3× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 3× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 3× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 5 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Geometric Mismatch — 1× in this paper · explained in 2 episodes
• Synthetic Data Generation — 1× in this paper · explained in 5 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Geometry-aware 4D Video Generation for Robot Manipulation
• ShapeGen: Robotic Data Generation for Category-Level Manipulation
• SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
• RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation
• Open3D: A Modern Library for 3D Data Processing

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