An intent-driven Real2Sim framework uses VLMs for semantic task decomposition to identify missing physical parameters and generates reactive behavior trees to acquire them via contact-rich robotic interactions on a Franka Panda arm.
Estimating an object’s inertial parameters by robotic pushing: A data-driven approach,
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Real2Sim via Active Perception with Behavior Trees Automatically Generated by VLMs
An intent-driven Real2Sim framework uses VLMs for semantic task decomposition to identify missing physical parameters and generates reactive behavior trees to acquire them via contact-rich robotic interactions on a Franka Panda arm.