Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Sim

arXiv:2609.33982 · cs.RO, cs.CV · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-27

Updated: 2026-09-27

Comments: IROS 2026

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

Terminology

• Reward Function — 9× in this paper · explained in 4 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Diffusion Model — 4× in this paper · explained in 10 episodes
• Foundation Model — 4× in this paper · explained in 3 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Diffusion Models — 3× in this paper · explained in 9 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Generative Model — 3× in this paper · explained in 2 episodes
• Generative Models — 3× in this paper · explained in 3 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 4 episodes
• Digital Twin — 2× in this paper · explained in 5 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 3 episodes
• Active Exploration — 1× in this paper · explained in 2 episodes
• Active Vision — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper
• Embodied AI — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Latent Diffusion Model — 1× in this paper · explained in 2 episodes
• Latent Diffusion Models — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes
• Training-Free Framework — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• DKPROMPT: Domain Knowledge Prompting Vision-Language Models for Open-World Planning
• AnyTask: an Automated Task and Data Generation Framework for Advancing Sim-to-Real Policy Learning

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