SMART: Zero-Shot Sim-to-Real Articulated Object Manipulation via Large-Scale Synthetic Pretraining

תקציר מקורי באנגליתarXiv:2610.07652v1 Announce Type: cross Abstract: The ability to interact with articulated objects is essential for embodied intelligent systems, but collecting large-scale real-world demonstrations for these interactions remains challenging due to the precise contact and constraint-following motions involved. Although simulation provides a promising alternative, existing synthetic data efforts cover limited articulated-object categories, while general-purpose synthesis pipelines lack explicit designs for part-level semantics and articulation constraints, hindering agentic task generation and scalable synthesis of high-quality articulated-manipulation demonstrations. To bridge this gap, we introduce SMART, a scalable system leveraging large-scale Synthesized Manipulation demonstrations for