{"id":"https://openalex.org/W7163918637","doi":"https://doi.org/10.48550/arxiv.2606.07118","title":"QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation","display_name":"QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation","publication_year":2026,"publication_date":"2026-06-05","ids":{"openalex":"https://openalex.org/W7163918637","doi":"https://doi.org/10.48550/arxiv.2606.07118"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.07118","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07118","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.07118","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138132976","display_name":"Yuxiang Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuxiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138139815","display_name":"Yuanhao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yuanhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138107140","display_name":"Ziheng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Ziheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138170078","display_name":"Meng Zhang","orcid":"https://orcid.org/0000-0001-5679-6843"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Meng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138183539","display_name":"Yu Liu","orcid":"https://orcid.org/0009-0004-1805-1145"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138155180","display_name":"Yufei Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Yufei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138198844","display_name":"Tiancai Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Tiancai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060050139","display_name":"Erjin Zhou","orcid":"https://orcid.org/0000-0001-9234-0026"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Erjin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138140521","display_name":"Jin Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Jin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.29010000824928284,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.29010000824928284,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.19120000302791595,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.13439999520778656,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5508000254631042},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5090000033378601},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.508400022983551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46619999408721924},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.44429999589920044},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.38850000500679016},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.37630000710487366},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.34279999136924744},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.3400000035762787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7204999923706055},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6636000275611877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5942000150680542},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5508000254631042},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5090000033378601},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.508400022983551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46619999408721924},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.44429999589920044},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.38850000500679016},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.37630000710487366},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.34279999136924744},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.3400000035762787},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.33390000462532043},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.3305000066757202},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3246999979019165},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.3021000027656555},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2809999883174896},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27489998936653137},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26420000195503235},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.07118","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07118","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.07118","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07118","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Simulation":[0],"is":[1],"central":[2],"to":[3],"robot":[4],"learning,":[5],"yet":[6],"the":[7,32,120,124],"sim-to-real":[8],"gap":[9],"remains":[10],"a":[11,50,111],"major":[12],"bottleneck.":[13],"Existing":[14],"approaches":[15],"often":[16],"tackle":[17],"visual":[18,55],"or":[19],"dynamic":[20],"gaps":[21],"separately,":[22],"overlooking":[23],"how":[24],"these":[25],"individual":[26],"mismatches":[27],"accumulate":[28],"and":[29,59,80,97,130,140],"propagate":[30],"throughout":[31],"robot's":[33],"state":[34],"evolution.":[35],"In":[36],"this":[37,147],"paper,":[38],"we":[39,66,149],"introduce":[40],"QuadVerse,":[41],"an":[42],"integrated":[43],"framework":[44],"that":[45,74,135],"uses":[46],"reconstructed":[47],"scenes":[48,73],"as":[49],"calibration":[51,90],"substrate":[52],"for":[53],"aligning":[54],"perception,":[56],"physical":[57],"interaction,":[58],"actuator":[60,107,131],"dynamics.":[61],"From":[62],"captured":[63],"RGB":[64],"videos,":[65],"reconstruct":[67],"geometry-constrained":[68],"3D":[69],"Gaussian":[70],"Splatting":[71],"(3DGS)":[72],"support":[75],"batched":[76],"photorealistic":[77],"ego-view":[78],"rendering":[79],"collision-ready":[81],"semantic":[82],"mesh":[83],"extraction.":[84],"The":[85],"meshes":[86],"further":[87],"enable":[88],"contact":[89,128],"by":[91,115],"initializing":[92],"spatially":[93],"varying":[94],"friction":[95],"priors":[96],"refining":[98],"them":[99],"through":[100],"trajectory-based":[101],"posterior":[102],"search.":[103],"To":[104],"address":[105],"remaining":[106],"discrepancies,":[108],"QuadVerse":[109,136],"trains":[110],"residual":[112],"dynamics":[113],"compensator":[114],"replaying":[116],"real-world":[117,158],"trajectories":[118],"on":[119],"contact-calibrated":[121],"terrain,":[122],"reducing":[123],"entanglement":[125],"between":[126],"terrain-induced":[127],"errors":[129],"non-idealities.":[132],"Experiments":[133],"show":[134],"improves":[137],"reconstruction":[138],"quality":[139],"locomotion":[141],"tracking":[142],"over":[143],"relevant":[144],"baselines.":[145],"Leveraging":[146],"foundation,":[148],"demonstrate":[150],"robust":[151],"zero-shot":[152],"visual-navigation":[153],"policy":[154],"deployment":[155],"without":[156],"task-specific":[157],"rollouts.":[159]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-09T00:00:00"}
