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simmediumsim-to-realmetric · varies
SyncTwin: Fast Digital Twin Construction and Synchronization for Safe Robotic Manipulation
Description
Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and real-to-sim synchronization for robust and safety-aware robotic manipulation in such environments. In the offline stage, we employ VGGT to rapidly reconstruct object-level 3D assets from RGB images, forming a reusable geometry library. During execution, SyncTwin