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--> [Submitted on 25 Aug 2026] Title:CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning View a PDF of the paper titled CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning, by Yafei Ou and 5 other authors View PDF HTML (experimental) Abstract:We introduce CRESSim-Neo, a batched GPU simulation engine for surgical robotics and robot learning. CRESSim-Neo combines position-based simulation of rigid bodies, deformable tissues, fluids, and strands with batched rendering, surgery-specific sensing, and a GPU-resident data pipeline. The engine supports applications including tissue manipulation, fluid suction, suturing, cable-driven robots, and ultrasound image synthesis. Direct access to physics and rendering buffers enables GPU-resident robot learning and zero-copy PyTorch integration using DLPack. We demonstrate CRESSim-Neo across rigid-body, deformable-body, and fluid simulation tasks, including vision-based and surgical robot-learning scenarios. On an NVIDIA RTX 4090, the engine achieves up to 2.03 million environment steps per second for 8192 parallel CartPole environments, and scales to batched surgical scenarios involving tissue deformation, fluid interaction, and ultrasound sensing. Overall, CRESSim-Neo provides a unified and scalable platform for surgical simulation, synthetic data generation, and surgical robot learning. Comments: 8 pages, 11 figures Subjects: Robotics (cs.RO) Cite as: arXiv:2608.25192 [cs.RO] (or arXiv:2608.25192v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.25192 arXiv-issued DOI via DataCite (pending registration) Submission history From: Yafei Ou [view email] [v1] Tue, 25 Aug 2026 22:17:00 UTC (1,938 KB) Full-text links: Access Paper: View a PDF of the paper titled CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning, by Yafei Ou and 5 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)