Robotics real-to-sim approach aims to model object affordances and calibrate physics

A user describing their robotics real-to-simulation approach says its agent considers geometry, materials, colliders, articulation and physics together. They say it models object details that convey how things function and automatically calibrates simulation physics against real-world trajectories to match task-specific dynamics. They argue that simulation environments are useful only when they provide meaningful signals for robot-control policies.