BLOG ILLUSTRATION / EXECUTION STORY

Video2Sim2Real: repair keyframes and correct contact

One RGB-D demonstration supplies a digital twin and motion prior for the repair of contact, interaction and release keyframes. At deployment, perception calibration corrects poses from an object point cloud before entry. Local residual control then corrects contact dynamics.

Video2Sim2Real: repair keyframes and correct contactOne RGB-D demonstration supplies a digital twin and motion prior for the repair of contact, interaction and release keyframes. At deployment, perception calibration corrects poses from an object point cloud before entry. Local residual control then corrects contact dynamics. OFFLINE REFERENCE CONSTRUCTION RGB-D video one video Twin + motion prior Repair keyframes contact · interaction · release Object cloud before entry Perception calibration correct keyframe poses Use base + residual finger-level correction refined reference DEPLOYMENT · TWO CORRECTIONS Pose, then contact
The author made this diagram from the source figure. Object-event anchors repair the offline reference. Perception calibration corrects geometric placement before entry. Residual control corrects local contact dynamics. The diagram does not show the optional motion planner or source robot-result images. It does not show a measured rollout. Open full-size SVG