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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.
Models with similar success rates can exhibit vastly different strengths and weaknesses, revealing the hidden complexities of mobile manipulation capabilities.
Forget painstakingly collecting real-world data for deformable object manipulation: SIM1 achieves equivalent policy performance with 15x less data by grounding simulations in the physical world.
