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About this paper
Kuixiang Shao, Chuansen Nie, Yinuo Bai, Jiayuan Gu, Jingyi Yu
FACT addresses simulation fidelity by refining articulated models against geometry, task-specific contact, and observed passive motion. It measures geometry, checks collision proxies for task free space and motion clearance, then fits response models to trajectories. On evaluated tasks, it reports 99.47% ISR; on six real objects, held-out TMSE is 0.0252 versus 0.1711 for Gemini-3.8-Flash, within selected tasks and observed responses.
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