Automatically Improving Simulation Physics for Articulated Objects
This paper introduces the concept of 'interaction-readiness' to quantify the physical quality of articulated objects in simulation, and proposes a multi-modal, simulator-in-the-loop approach that infers physical properties from incomplete 3D assets and refines them through iterative feedback, leading to more stable and realistic dynamics for robot learning.
[2605.19136] Automatically Improving Simulation Physics for Articulated Objects
[Submitted on 18 May 2026]
Title:Automatically Improving Simulation Physics for Articulated Objects
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Abstract:Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical properties required for stable and realistic interaction, requiring significant manual effort to construct simulation-ready articulated objects. In this thesis, we introduce interaction-readiness, which characterizes whether an object can be reliably simulated under manipulation. We propose a quantitative evaluation framework that decomposes interaction-readiness into measurable components, enabling systematic analysis of object quality and revealing failure modes not captured by conventional evaluation. We further present a multi-modal, simulator-in-the-loop approach for generating interaction-ready articulated objects from incomplete 3D assets. The method integrates geometric, visual, and semantic information to infer physical properties and refines them through iterative simulator feedback to improve physical consistency. Experiments across diverse articulated objects and manipulation tasks show that object quality directly impacts simulation stability, interaction behavior, and policy performance. Objects refined by our method exhibit more stable and realistic dynamics, enabling more reliable downstream learning and evaluation. Overall, this thesis demonstrates the importance of physical realism for articulated objects in simulation and introduces a practical multi-modal refinement approach, guided by simulator feedback, for constructing such objects at scale.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.19136 [cs.RO]
(or arXiv:2605.19136v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.19136
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Anh-Quan Pham [view email] [v1] Mon, 18 May 2026 21:34:33 UTC (1,941 KB)
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