SARI: Phase-Split Sim-Real Co-Training for Contact-Rich Manipulation
cs.RO
Submitted: 2026-10-02
Updated: 2026-10-02
Project page: https://icra27-sari.vercel.app
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
- GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
- DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
- R2RGEN: Real-to-Real 3D Data Generation for Spatially Generalized Manipulation
- MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
- Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware
- Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
- Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
- SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control
- GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
- A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies
- TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
- SPARR: Simulation-based Policies with Asymmetric Real-world Residuals for Assembly
- IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
- RT-1: Robotics Transformer for Real-World Control at Scale
- RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
- Octo: An Open-Source Generalist Robot Policy
- OpenVLA: An Open-Source Vision-Language-Action Model
- $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
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