PhyVisGen: Physically and Visually High-Fidelity Robotic Manipulation Data Generation

arXiv:2609.25653 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Comments: 8 pages, 5 figures. Under review

Code: https://github.com/isaacsim/IsaacSim

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

Terminology

• Fidelity — 53× in this paper · explained in 2 episodes
• Calibration — 9× in this paper · explained in 7 episodes
• Gaussian Splatting — 4× in this paper · explained in 4 episodes
• Incremental Potential Contact — 3× in this paper
• Benchmark — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Chunking with Transformers — 1× in this paper
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Affine Body Dynamics — 1× in this paper
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Digital Twin — 1× in this paper · explained in 4 episodes
• Finite Element Method — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting
• TSGS: Improving Gaussian Splatting for Transparent Surface Reconstruction via Normal and De-lighting Priors

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