RoboSimStudio：用于机器人操作任务快速现实到仿真迁移的交互式工具包
RoboSimStudio: An Interactive Toolkit for Rapid Real2Sim of Robot Manipulation Tasks
AI总结：
针对机器人操作任务中物理交互建模困难的问题，提出交互式工具包RoboSimStudio，基于Newton系统实现，支持迭代优化仿真，经多类实验验证可用于现实到仿真迁移。
摘要：
对机器人与其操作对象间的交互物理进行精确建模存在困难，涉及接触力学、耦合接触动力学、变形、刚度及摩擦等方面。我们提出RoboSimStudio（RSS），这是一款交互式工具包，可明确且可编辑地选择求解器、接触模型及物理参数，支持人类与编码智能体基于观测到的物理行为迭代优化仿真。我们基于开源Newton物理仿真系统实现RSS，并描述了人类引导的现实到仿真迁移实验，包含视觉评估、力反馈及智能体驱动的Real2Sim2Real三类设置，代码、视频及额外信息可在项目网站获取。
英文摘要：
It is difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, deformations, stiffness and friction. We present RoboSimStudio (RSS), an interactive toolkit that makes choices of solver, contact model, and physical parameters explicit and editable, allowing both humans and coding agents to iteratively refine simulations based on observed physical behavior. We implement RSS with the open Newton physics simulation system and describe experiments with human-guided real2sim using (1) visual evaluation, (2) force-feedback and (3) agentic Real2Sim2Real. Code, video and additional information can be found on the project website.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
