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RealSimLoop: Online Real-to-Sim Adaptation via Differentiable Reduced-Order Simulation with Vision Feedback

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Real-world observations of deformable objects are often sparse or surface-level, while downstream tasks require hidden physical quantities such as internal deformation, stress fields, and interaction forces. Physics-based simulation can recover these quantities, but online real-to-sim adaptation remains challenging due to costly full-space optimization, limited feedback, and time-varying material properties. To address these challenges, we propose RealSimLoop, a differentiable framework for online real-to-sim adaptation using vision data as physical feedback. Our approach achieves quasi-real-t

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