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PhyVisGen, a physically and visually high-fidelity framework for scalable robotic manipulation data generation, introduces an arm-gripper coupling method based on the Incremental Potential Contact (IPC), enabling high-fidelity soft contact throughout complete manipulation trajectories.
Achieve photorealistic multi-traversal 3D reconstruction by disentangling illumination from material properties, even when the same scene is captured under drastically different lighting conditions.
