https://city-super.github.io/SoMA/

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Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined physics or data-driven dynamics without robot-conditioned control, limiting accuracy, stability, and generalization. This paper presents SoMA, a 3D Gaussian Splat simulator for soft-body manipulation. SoMA couples deformable dynamics, environmental forces, and robot joint actions in a unified latent neural space for end-to-end real-to-sim simulation. Modeling interactions over learned Gaussian splats enables controllable, stable long-horizon manipulation and generalization beyond observed trajectories without predefined physical models. SoMA improves resimulation accuracy and generalization on real-world robot manipulation by 20%, enabling stable simulation of complex tasks such as long-horizon cloth folding.

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\n","updatedAt":"2026-02-06T01:41:03.759Z","author":{"_id":"63d3e0e8ff1384ce6c5dd17d","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/1674830754237-63d3e0e8ff1384ce6c5dd17d.jpeg","fullname":"Librarian Bot (Bot)","name":"librarian-bot","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":318,"isUserFollowing":false}},"numEdits":0,"identifiedLanguage":{"language":"en","probability":0.715576171875},"editors":["librarian-bot"],"editorAvatarUrls":["https://cdn-avatars.huggingface.co/v1/production/uploads/1674830754237-63d3e0e8ff1384ce6c5dd17d.jpeg"],"reactions":[{"reaction":"👍","users":["SuemH"],"count":1}],"isReport":false}},{"id":"69874c53410898e152a7b386","author":{"_id":"65243980050781c16f234f1f","avatarUrl":"/avatars/743a009681d5d554c27e04300db9f267.svg","fullname":"Avi","name":"avahal","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"followerCount":3,"isUserFollowing":false},"createdAt":"2026-02-07T14:29:39.000Z","type":"comment","data":{"edited":false,"hidden":false,"latest":{"raw":"arXivLens breakdown of this paper 👉 https://arxivlens.com/PaperView/Details/soma-a-real-to-sim-neural-simulator-for-robotic-soft-body-manipulation-4674-0ed2fd02\n- Executive Summary\n- Detailed Breakdown\n- Practical Applications","html":"

arXivLens breakdown of this paper 👉 https://arxivlens.com/PaperView/Details/soma-a-real-to-sim-neural-simulator-for-robotic-soft-body-manipulation-4674-0ed2fd02

Executive Summary
Detailed Breakdown
Practical Applications

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Papers

arxiv:2602.02402

SoMA: A Real-to-Sim Neural Simulator for Robotic Soft-body Manipulation

Published on Feb 2

· Submitted by

MulinYu on Feb 5

· shanghai ailab

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Abstract

SoMA is a 3D Gaussian Splat simulator that enables stable, long-horizon manipulation of soft bodies by coupling deformable dynamics, environmental forces, and robot actions in a unified latent neural space.

AI-generated summary