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simmediumsim-to-realmetric · varies
TwinAligner: Visual-Dynamic Alignment Empowers Physics-aware Real2Sim2Real for Robotic Manipulation
Description
The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simulators offer cost-effective alternatives, but the gap between simulation and reality challenges effective policy transfer. This paper introduces TwinAligner, a novel Real2Sim2Real system that addresses both visual and dynamic gaps. The visual alignment module achieves pixel-level alignment through SDF reconstruction and