Deformable Object Simulation

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13 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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Latest papers 61

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SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing
Jul 6, 2026Stone Tao, Jie Xu, Hesam Rabeti +3RL for Robotics Sim-to-Real Transfer
1NVIDIA Corporation · University of California, San Diego
DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects
Jun 20, 2026Yi Yang, Xiang Fei, Lehong Wang +5Robotics Simulation Sim-to-Real Transfer
The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213 USA. · School of Ocean and Civil Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. · Zhiyuan College, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. +2
Scene-Level Heterogeneous Physics Simulation with 3D Gaussian Splats
Jun 19, 2026Xiaoyang Liu, Shangzhe Wu, Kai Han3D Gaussian Splatting 3D Scene Representation
1The University of Hong Kong · University of Cambridge
PIAvatar: Physically Interactive Avatars via Deformation Gradient Decoupling
Jun 19, 2026Sang-Hun Han, Min-Gyu Park, Jisu Shin +3Material Point Method Human Avatar Animation
1GIST · 2KETI · 3Polygom +2
TaCauchy: An Extensible FEM Framework for Vision-Based Tactile Simulation
Jun 18, 2026Hengfei Zhao, Yifan Xie, Junhao Gong +6Vision-Based Tactile Sensing Tactile Sensing
Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China · Huawei Inc., Shenzhen, China
WireCraft: A Simulation Benchmark for Industrial DLO Manipulation
Jun 16, 2026Chongyu Zhu, Ramy ElMallah, Hyegang Kim +5Robot Policy Learning Robotics Simulation
Department of Mechanical and Industrial Engineering, University of Toronto, Canada · Department of Computer Science, University of Toronto, Canada · CREFLE Inc., Seongnam, Republic of Korea
EgoPhys: Learning Generalizable Physics Models of Deformable Objects from Egocentric Video
Jun 15, 2026Hyunjin Kim, Ri-Zhao Qiu, Guangqi Jiang +1Deformable Object Manipulation Deformable Shape Reconstruction
UC San Diego
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Jun 13, 2026Wenkang Hu, Haoran Wang, Yitong Li +10Zero-Shot Robotic Manipulation Robot Skill Learning
1Shanghai Jiao Tong University · 2Horizon Robotics · 3Style3D Research
Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation
Jun 12, 2026Wei-Chen Li, Jeffrey Fang, Sasanka Polisetti +2Constrained Motion Planning Contact-Rich Robotic Manipulation
Georgia Institute of Technology, Atlanta, GA 30308
UniPixie: Unified and Probabilistic 3D Physics Learning via Flow Matching
Jun 3, 2026Qilin Huang, Quynh Anh Huynh, Long Le +5Materials Property Prediction Conditional Generative Modeling
University of Pennsylvania · Southern University of Science and Technology · Work done during an internship at UPenn +1
DLO-Lab: Benchmarking Deformable Linear Object Manipulations with Differentiable Physics
Jun 2, 2026Junyi Cao, Yian Wang, Ziyan Xiong +3Deformable Object Manipulation Robot Manipulation Benchmarks
University of Massachusetts Amherst
NeuROK: Generative 4D Neural Object Kinematics
May 28, 2026Chen Geng, Guangzhao He, Yue Gao +3Generative Modeling 3D Representation Learning
1Stanford University · 3Cornell University · University of Cambridge
MonoPhysics: Estimating Geometry, Appearance, and Physical Parameters from Monocular Videos
May 28, 2026Daniel Rho, Jun Myeong Choi, Matthew Thornton +23D Reconstruction Monocular 3D Reconstruction
University of North Carolina at Chapel Hill · Meta
FreeForm: Reduced-Order Deformable Simulation from Particle-Based Skinning Eigenmodes
May 28, 2026Donglai Xiang, Vismay Modi, Rishit Dagli +5Hyperelasticity Reduced-Order Modeling
NVIDIA · 1NVIDIA · University of Toronto
ClothTransformer: Unified Latent-Space Transformers for Scalable Cloth Simulation
May 27, 2026Yu Zhang, Yidi Shao, Wenqi Ouyang +5Transformer Physics-Based Simulation
1S-Lab, Nanyang Technological University, Singapore · 2Feeling AI · University of Oxford +2
MoSA: Motion-constrained Stress Adaptation for Mitigating Real-to-Sim Gap in Continuum Dynamics via Learning Residual Anisotropy
May 21, 2026Jiaxu Wang, Junhao He, Jingkai Sun +5Residual Learning Sim-to-Real Transfer
Hong Kong University of Science and Technology, Guangzhou, China · MMLab, Chinese University of Hong Kong, Hong Kong SAR · The University of Hong Kong, Hong Kong SAR
HyperBones: Realtime Bone-driven Neural Garment Simulation with Hypernetwork Conditioning
May 19, 2026Astitva Srivastava, Hsiao-Yu Chen, Ryan Goldade +9Physics-Based Simulation Deformable Object Simulation
IIIT Hyderabad, India · Meta Reality Labs, USA · IIT Jodhpur, India
MatPhys: Learning Material-Aware Physics Parameters for Deformable Object Simulation from Videos
May 19, 2026Yang Yang, Yiyan Wang, Zheming Liu +1Dynamic Scene Reconstruction Materials Property Prediction
1The University of Osaka · 3Huawei Technologies Japan K.K. · 2The University of Tokyo
Visual Sculpting: Visually-Aligned Planning Representations for Long-Horizon Robot Clay Sculpting
May 17, 2026Peter Schaldenbrand, Jean OhLong-Horizon Robotic Manipulation Deformable Object Manipulation
1The Robotics Institute, Carnegie Mellon University · 2Lavoro AI Research
EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scene Simulations via MLLM-Guided Gaussian Splatting
May 15, 2026Changjing Liu, Yiming Huang, Long Bai +23D Gaussian Splatting Robotics Simulation
Department of Electronic Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong SAR, China
WorldParticle: Unified World Simulation of Lagrangian Particle Dynamics via Transformer
May 14, 2026Caoliwen Wang, Minghao Guo, Siyuan Chen +13Neural Surrogate Modeling Transformer
University of British Columbia, Canada · MIT CSAIL, USA · Georgia Institute of Technology, USA +7
DiffPhD: A Unified Differentiable Solver for Projective Heterogeneous Materials in Elastodynamics with Contact-Rich GPU-Acceleration
May 14, 2026Shih-Yu Lai, Sung-Han Tien, Jui-I Huang +9Robotics Simulation Hyperelasticity
National Taiwan University · MoonShine Animation Studio · National University of Singapore +3
DeformMaster: An Interactive Physics-Neural World Model for Deformable Objects from Videos
May 10, 2026Can Li, Zhoujian Li, Ren Li +4World Model Learning World Models
Nankai University · Rightly Robotics, A4X · Zhejiang University +2
PhysHanDI: Physics-Based Reconstruction of Hand-Deformable Object Interactions
May 10, 2026Jihyun Lee, Changmin Lee, Donghwan Kim +13D Reconstruction Deformable Shape Reconstruction
School of Computing, KAIST, Daejeon, South Korea.
Reduced-order Neural Modeling with Differentiable Simulation for High-Detail Tactile Perception
May 6, 2026Yuhu Guo, Zhikai Shen, Jiasheng Qu +4Neural Surrogate Modeling Material Point Method
The University of Manchester, UK · The Chinese University of Hong Kong, Hong Kong SAR, China · University of Leeds, UK +1
Learning Equivariant Neural-Augmented Object Dynamics From Few Interactions
May 4, 2026Sergio Orozco, Tushar Kusnur, Brandon May +2Deformable Object Manipulation Robotic Manipulation
Brown University, Providence, RI · Robotics and AI (RAI) Institute, Cambridge, MA · General Motors
DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibration
Apr 30, 2026Yang You, Won Kyung Do, Aiden Swann +3Tactile Sensing Robotics Simulation
Stanford University, United States · University of Cambridge, United Kingdom
Momentum-Conserving Graph Neural Networks for Deformable Objects
Apr 28, 2026Jiahong Wang, Logan Numerow, Stelian Coros +3Graph Neural Networks Physics-Informed ML
Max Planck Institute for Informatics · ETH Zurich · University of Bonn +1
LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios
Apr 24, 2026Zeyi Li, Yushi Yang, Shawn Xie +15Robotics Simulation Deformable Object Manipulation
Institute of Automation, Chinese Academy of Sciences. · Peking University. · Lightwheel. +1
FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
Apr 19, 2026Siyuan Luo, Bingyang Zhou, Chong Zhang +9Contact-Rich Robotic Manipulation Robotics Simulation
NUS Human-Centered Robotic Lab · ETH · ShanghaiTech University +2

Jul 6, 2026, cs.ROJ/K move · Enter open · S save

SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing

Stone Tao, Jie Xu, Hesam Rabeti, Yashraj Narang+2

1NVIDIA Corporation · University of California, San Diego

RL for Robotics Sim-to-Real Transfer Deformable Object Manipulation Deformable Object Simulation

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Linear-deformable manipulation remains challenging due to the complex deformations of objects such as cables and ropes. Prior data-driven approaches, particularly imitation learning, have shown some promise in narrowly defined settings but typically require thousands of demonstrations for specific tasks and cable types, limiting scalability and generalization. We introduce a sim-to-real reinforcement learning (RL) framework for multi-stage cable routing that leverages GPU-parallelized simulation to approximate linear deformable behaviors. Training across thousands of parallel simulations enables the learned policies to generalize across diverse cable geometries and deformation patterns. To bridge the sim-to-real gap, we propose a novel deployment strategy that combines a Simulation In the LOop (SILO) execution framework, localized RL policies, and robust cable state estimation. On real-world cable routing tasks, our approach achieves higher success rates and 2x reduction in cycle times compared to prior state-of-the-art learning methods. To our knowledge, this is the first successful sim-to-real transfer of RL policies for multi-stage cable routing. Videos and additional visualizations are available at https://silo-cable-routing.github.io/

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Latest papers 61