Physical Twins: Accelerating and Enabling Robot Learning with Phantom Platforms

arXiv:2610.06929 · cs.RO · Submitted 2026-10-03 · Read on arXiv

cs.RO

Submitted: 2026-10-03

Updated: 2026-10-03

Comments: 8 pages, 7 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Spherical Parallel Manipulator — 8× in this paper
• Accuracy — 3× in this paper · explained in 1 episode
• Actor — 3× in this paper · explained in 3 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• International Conference on Automation Science and Engineering — 1× in this paper
• Multi-objective Optimization — 1× in this paper · explained in 5 episodes
• Transferability — 1× in this paper · explained in 5 episodes

Sources

• One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments
• Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions
• A High-Fidelity Simulation Framework for Grasping Stability Analysis in Human Casualty Manipulation

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies