SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds

Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from the cost of real-world data acquisition, prevailing sim-to-real pipelines remain rooted in rigid-body abstractions, producing mismatched geometry, fragile soft dynamics, and motion primitives poorly suited for cloth interaction. We posit that simulation fails n

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ethics.ai (9 April 2026), “SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds,” evidence record 6101, https://ethics.ai/record/6101 (originally published by arXiv).

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