RoboSimStudio: An Interactive Toolkit for Rapid Real2Sim of Robot Manipulation Tasks

Kaiyuan Chen, Shuangyu Xie, Uksang Yoo, Xinyue Zhu, Cael Magner +7 more
10/13/2026
cs.ROcs.AIcs.GR

No official code found. Best implementation: robosimstudio/robosimstudio (54 stars, Apache-2.0, last commit 2026-10-14).

Abstract

It is difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, deformations, stiffness and friction. We present RoboSimStudio (RSS), an interactive toolkit that makes choices of solver, contact model, and physical parameters explicit and editable, allowing both humans and coding agents to iteratively refine simulations based on observed physical behavior. We implement RSS with the open Newton physics simulation system and describe experiments with human-guided real2sim using (1) visual evaluation, (2) force-feedback and (3) agentic Real2Sim2Real. Code, video and additional information can be found on the project website.

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Code Implementations(1)

robosimstudio/robosimstudioCommunity71%
Apache-2.0

An open interactive toolkit that accelerates human and agentic physics-based Real2Sim of Robot Manipulation Tasks

542Oct 12, 20261 weeks agoApache-2.0

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Cite this paper

@article{chen2026robosimstudio,
  title  = {RoboSimStudio: An Interactive Toolkit for Rapid Real2Sim of Robot Manipulation Tasks},
  author = {Kaiyuan Chen and Shuangyu Xie and Uksang Yoo and Xinyue Zhu and Cael Magner and Alvin Zhu and Daehwa Kim and Eric Heiden and Erwin Coumans and Miles Macklin and Spencer Huang and Ken Goldberg},
  year   = {2026},
  eprint = {2610.18835},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2610.18835v1}
}

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