Official implementation of "SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds "
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Apr 10, 2026 - Python
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deformable-manipulation
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A toolkit for massively parallel procedural generation of deformable forests and Proprioceptive Contact-Aware Policy Learning (PCAP) for gentle, contact-aware robotic manipulation of tree branches.
reinforcement-learning physics-simulation l-systems sim-to-real isaac-gym deformable-manipulation tree-branch-simulation
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Jan 28, 2026 - Python
Implements a probabilistic, simulator-driven Bayesian inference framework using SVGD to learn spring-model parameters and predict branch deformation dynamics under robotic manipulation.
bayesian-inference robotics-control stein-variational-gradient-descent nvidia-issac deformable-manipulation
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Dec 5, 2025 - Jupyter Notebook
A toolkit for training whole-arm reinforcement learning policies that manipulate and clear clusters of deformable objects. Combines point-cloud perception and proprioceptive touch to enable contact-rich, full-arm interaction.
reinforcement-learning computer-vision physics-simulation robotics-control sim-to-real isaac-gym deformable-manipulation
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Updated
Jan 28, 2026 - Python
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