SyncTwin: Fast Digital Twin Construction and Synchronization for Safe Robotic Manipulation
SyncTwin: Fast Digital Twin Construction and Synchronization for Safe Robotic Manipulation
This research introduces SyncTwin, a digital twin framework designed to enhance safe robotic manipulation in dynamic and visually occluded environments. The system unifies rapid 3D scene reconstruction using VGGT with real-to-sim synchronization, allowing motion planners to compute collision-aware trajectories in simulation before executing them on the real robot. Experiments demonstrate that this approach improves both manipulation performance and safety by effectively closing the real-to-sim-to-real loop.
The paper proposes SyncTwin, a framework combining offline 3D asset reconstruction with online real-to-sim synchronization to improve safety and performance in occluded robotic manipulation tasks.
Source: arXiv Robotics — research abstracts · Read original article ↗
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arXiv:2601.09920v3 Announce Type: replace Abstract: Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and real-to-sim synchronization for robust and safety-aware robotic manipulation in such environments. In the offline stage, we employ
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VGGT to rapidly reconstruct object-level 3D assets from RGB images, forming a reusable geometry library. During execution, SyncTwin continuously synchronizes the digital twin by tracking real-world object states and uses stored assets to complete partially observed geometry. The synchronized twin enables motion planners to compute collision-aware robot trajectories in simulation, with execution on the real robot clos
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ing the real-to-sim-to-real loop. Experiments in dynamic and occluded scenes show that SyncTwin improves manipulation performance and motion safety, demonstrating the effectiveness of digital twin synchronization for real-world robotic execution.
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SyncTwin: Fast Digital Twin Construction and Synchronization for Safe Robotic Manipulation
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Source：arXiv Robotics — research abstracts · arxiv.org