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Synthetic Simulation Pipelines for Embodied AI

Design high-fidelity simulation stacks that combine physics accuracy, procedural scene generation, and language-driven scenario scripting to accelerate robotics training.

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3. Physics and Sensor Simulation

In this section

High fidelity requires accurate physics and sensor emulation.

Physics Engines#

  • Choose engines supporting rigid body dynamics, soft-body interactions, fluids, and deformable objects as needed.
  • Ensure determinism with fixed time steps, consistent random seeds, and version-controlled engine builds.
  • Validate performance with benchmark suites comparing simulated and real-world trajectories (e.g., robotic arm trajectories, grasp stability).

Rendering and Sensor Models#

  • Simulate RGB, depth, thermal, LiDAR, event cameras, and tactile sensors as necessary.
  • Include realistic noise models, lens effects, and latency.
  • Support configurable frame rates and resolution to match deployment hardware.

Performance Optimization#

  • Parallelize simulations across GPUs/CPUs; use multi-threaded physics and asynchronous rendering.
  • Implement adaptive fidelity—lower detail during exploration, increase fidelity near critical interactions.
  • Cache expensive computations (lighting, static shadows) to reduce runtime overhead.
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