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license: cc-by-4.0
SoMA: A Real-to-Sim Neural Simulator for Robotic Soft-body Manipulation
TL;DR: SoMA is a Gaussian splat neural simulator that models deformable object dynamics from real-world robot manipulation, enabling action-conditioned, stable long-horizon simulation with high-fidelity, multi-view–consistent rendering.
cite arxiv.org/abs/2602.02402