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About this paper
Shu'ang Sun, Yibo Qiu, Haoliang Ye, Zan Huang, Ao Tian, Kan Ding, Ronald Xu, Mingzhai Sun
TwinBridge combines Gaussian-splat appearance and physics simulation to initialize policies and supervise a visual model of ordered events and eligible progress. A frozen predictor transfers this feedback to real-camera sequences, while an execution ledger enforces prerequisites and one-time credit. Across five tasks, it achieved 98% mean final autonomous success after at most 25 minutes of real-world interaction per task.
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