{"id":"https://openalex.org/W7164931679","doi":"https://doi.org/10.48550/arxiv.2606.15338","title":"SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation","display_name":"SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation","publication_year":2026,"publication_date":"2026-06-13","ids":{"openalex":"https://openalex.org/W7164931679","doi":"https://doi.org/10.48550/arxiv.2606.15338"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.15338","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15338","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.2606.15338","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111098693","display_name":"Wenkang Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Wenkang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138714130","display_name":"Haoran Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Haoran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138701246","display_name":"Yitong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yitong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138737301","display_name":"Liu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Liu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013979477","display_name":"Mengao Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Mengao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101711065","display_name":"Lai Jiang","orcid":"https://orcid.org/0000-0003-0998-1389"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Lai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004010230","display_name":"X W Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Xincheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028503217","display_name":"Junhang Wei","orcid":"https://orcid.org/0000-0003-2156-1109"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Junhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066124252","display_name":"Zhengjie Shu","orcid":"https://orcid.org/0009-0008-7898-6283"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shu, Zhengjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138698878","display_name":"Zhendong Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhendong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138716865","display_name":"Zhizhong Su","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Zhizhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138692751","display_name":"Huamin Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Huamin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5076524203","display_name":"Ruigang Yang","orcid":"https://orcid.org/0000-0001-5296-6307"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Ruigang","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":0.8948000073432922,"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":0.8948000073432922,"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/T10868","display_name":"Soft Robotics and Applications","score":0.04010000079870224,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10789","display_name":"Interactive and Immersive Displays","score":0.01810000091791153,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6402000188827515},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.574400007724762},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5199999809265137},{"id":"https://openalex.org/keywords/asset","display_name":"Asset (computer security)","score":0.3882000148296356},{"id":"https://openalex.org/keywords/train","display_name":"Train","score":0.319599986076355}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6815999746322632},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6402000188827515},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.574400007724762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5313000082969666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5263000130653381},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5199999809265137},{"id":"https://openalex.org/C76178495","wikidata":"https://www.wikidata.org/wiki/Q4808784","display_name":"Asset (computer security)","level":2,"score":0.3882000148296356},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3456000089645386},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.2849999964237213},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.2833000123500824},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.2678000032901764}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.15338","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15338","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.2606.15338","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.15338","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":{"RGB":[0,18],"sim-to-real":[1,72],"for":[2],"deformable":[3,39],"manipulation":[4],"has":[5],"remained":[6],"largely":[7],"unsolved":[8],"without":[9,44],"real-world":[10,34],"fine-tuning.":[11],"We":[12,105],"present":[13],"SimWeaver,":[14],"which":[15],"trains":[16],"zero-shot":[17],"VLA":[19],"policies":[20],"on":[21],"200":[22],"simulated":[23],"demonstrations":[24],"per":[25],"task,":[26],"reaching":[27],"above":[28],"80%":[29],"per-task":[30,47],"and":[31,70,109],"91%":[32],"average":[33],"success":[35],"across":[36],"5":[37],"diverse":[38],"tasks":[40],"including":[41],"plastic-bag":[42],"manipulation,":[43],"teleoperation":[45],"or":[46],"calibration.":[48],"SimWeaver":[49,108],"combines":[50],"a":[51,64,71,110],"reliable":[52],"measurement-backed":[53],"simulator":[54],"(SimWeaver-Sim)":[55],"with":[56,74],"an":[57],"extensible":[58],"asset":[59,112],"framework":[60],"supporting":[61],"single-image":[62],"generation(SimWeaver-Asset),":[63],"deterministic":[65],"topology-aware":[66],"trajectory":[67],"synthesizer":[68],"(SimWeaver-Syn),":[69],"protocol":[73],"ISP-aware":[75],"photometric":[76],"augmentation":[77],"(SimWeaver-Real).":[78],"On":[79],"silk":[80],"grasping,":[81],"the":[82],"sim-trained":[83],"policy":[84],"reaches":[85],"100%":[86],"under":[87],"visual":[88],"distribution":[89],"shifts":[90],"where":[91],"real-data":[92],"baselines":[93],"drop":[94],"to":[95],"9-70%,":[96],"at":[97],"two":[98],"orders":[99],"of":[100],"magnitude":[101],"lower":[102],"per-trajectory":[103],"cost.":[104],"will":[106],"release":[107],"representative":[111],"subset.":[113],"Project":[114],"page:":[115],"https://simweaver.github.io/":[116]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-17T00:00:00"}
