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No physics engine is uniformly faithful, with critical failures in simulating impulsive contact and rapid textile motion revealed by the GAUGE benchmark.
Mapping SQL errors to conceptual gaps reveals that students' misunderstandings are often more profound than mere syntax issues, offering a new lens for educational feedback.
Achieving a 78.3% success rate in real-world mobile manipulation, this framework bridges the reality gap with zero-shot transferability to unseen tasks.
