README.md

---
language:
- en
license: mit
pretty_name: GAUGE
tags:
- robotics
- embodied-ai
- physics
- simulation
- world-model
- motion-capture
- sim-to-real
- deformable-objects
- benchmark
task_categories:
- other
---

# GAUGE Dataset

**GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in
Simulation Engines and Video World Models**

GAUGE is a real-world-grounded benchmark for evaluating the physical
fidelity of numerical physics engines and generative video world models.
The benchmark contains **22 controlled task families** spanning rigid
bodies, flexible cables, textiles, and volumetric deformable objects.

## Task Overview

GAUGE contains **22 controlled task families** spanning rigid bodies, flexible cables, textiles, and volumetric deformable objects.

| Category | Task | Video | Description | Evaluation | Subtasks | Material |
| --- | --- | --- | --- | --- | ---: | --- |
| Rigid Body | Slope Contact | <img src="./media/webp/slope_contact.webp" width="180" alt="Slope Contact"> | Fall of a trirectangular tetrahedron | Slope collisions | 1 | Wood, Plastic |
| Rigid Body | Nonsmooth Contact | <img src="./media/webp/nonsmooth_contact.webp" width="180" alt="Nonsmooth Contact"> | Fall of wedges and pyramids | Codimensional collisions | 3 | Wood, Plastic |
| Rigid Body | Slope Slider | <img src="./media/webp/slope_slider.webp" width="180" alt="Slope Slider"> | Slide of a cube on a slope | Static and kinetic friction | 3 | Wood, Plastic, Metal |
| Rigid Body | Turntable | <img src="./media/webp/turntable.webp" width="180" alt="Turntable"> | Slide of a cube on a turntable | Static and kinetic friction in a non-inertial frame | 3 | Wood, Plastic, Metal |
| Rigid Body | Bouncing Ball | <img src="./media/webp/bouncing_ball.webp" width="180" alt="Bouncing Ball"> | Fall and bouncing of a ball | Rapid impact | 1 | Rubber |
| Rigid Body | Newton's Cradle | <img src="./media/webp/newton_cradle.webp" width="180" alt="Newton's Cradle"> | Collision of closely fitted balls | Momentum transfer | 1 | Metal |
| Rigid Body | Wall Breaking | <img src="./media/webp/wall_breaking.webp" width="180" alt="Wall Breaking"> | Collision of a wrecking ball with a wall | Large-scale dense collisions | 1 | Wood |
| Rigid Body | Pendulum | <img src="./media/webp/pendulum.webp" width="180" alt="Pendulum"> | Oscillation of a ball | Periodic motion | 1 | Metal |
| Flexible Cable | Rope Winding | <img src="./media/webp/rope_winding.webp" width="180" alt="Rope Winding"> | Winding of a rope | Self-collision and stretch modulus | 1 | Rubber |
| Textile | Textile Stretching | <img src="./media/webp/textile_stretching.webp" width="180" alt="Textile Stretching"> | Tensile deformation of a textile | Stretch modulus | 1 | R, S, U, O, L, N |
| Textile | Textile Bending | <img src="./media/webp/textile_bending.webp" width="180" alt="Textile Bending"> | Natural sagging of a textile | Bending modulus | 1 | R, S, U, O, L, N |
| Textile | Textile Flinging | <img src="./media/webp/textile_flinging.webp" width="180" alt="Textile Flinging"> | Fluttering of a textile | Motion under locally high acceleration | 1 | R, S, U, O, L, N |
| Textile | Funnel | <img src="./media/webp/funnel.webp" width="180" alt="Funnel"> | Passage of textiles through a hole | Collision, friction | 1 | R, S, U, O, L, N |
| Textile | Rotating Ball | <img src="./media/webp/rotating_ball.webp" width="180" alt="Rotating Ball"> | Motion of a textile driven by a rotating ball | Static and kinetic friction | 1 | R, S, U |
| Textile | Tablecloth Pulling | <img src="./media/webp/tablecloth_pulling.webp" width="180" alt="Tablecloth Pulling"> | Pulling a textile from beneath rigid objects | Static and kinetic friction | 1 | Wood, Plastic, Metal |
| Volumetric Deformable Body | Foam Stretching | <img src="./media/webp/foam_stretching.webp" width="180" alt="Foam Stretching"> | Stretching of an elastic cuboid | Stretching modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Compression | <img src="./media/webp/foam_compression.webp" width="180" alt="Foam Compression"> | Compression of an elastic cuboid | Compression modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Shearing | <img src="./media/webp/foam_shearing.webp" width="180" alt="Foam Shearing"> | Shearing of an elastic cuboid | Shear modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Twisting | <img src="./media/webp/foam_twisting.webp" width="180" alt="Foam Twisting"> | Twisting of an elastic cuboid | Twisting modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Bending | <img src="./media/webp/foam_bending.webp" width="180" alt="Foam Bending"> | Bending of an elastic cuboid | Bending modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Stick-Stack | <img src="./media/webp/stick_stack.webp" width="180" alt="Stick-Stack"> | Sliding of an elastic rod on a plane | Static and kinetic friction | 1 | Soft, Hard |
| Volumetric Deformable Body | Cantilever Beam | <img src="./media/webp/cantilever_beam.webp" width="180" alt="Cantilever Beam"> | Free hanging of an elastic cantilever beam | Coupling with a large stiffness ratio | 1 | Soft, Hard |

**Textile material abbreviations:** R = Rayon, S = Satin, U = Uniform cloth, O = Oxford fabric, L = Synthetic leather, N = Nylon taslan.

## Physical Regimes

| Physical Regime      |      Number of Task Families | Representative Properties |
| -------------------- | ---------------------------- | ---------------------     |
| Rigid Body           |                            8 | Collision, friction, momentum transfer, impact, periodic motion |
| Flexible Cable       |                            1 | Self-collision, stretching |
| Textile              |                            6 | Stretching, bending, friction, high-acceleration dynamics |
| Volumetric Deformable Body |                      7 | Stretching, compression, shear, twisting, bending, friction |

## Dataset Contents

GAUGE provides real-world experimental measurements and task-associated
physical metadata for standardized physics-fidelity evaluation. The
released dataset is organized around:

-   real-world motion-capture trajectories and measurements;
-   simulation-ready geometry and scene assets;
-   calibrated physical-property metadata;
-   standardized first-frame and text-prompt inputs for video world
    models;

## Citation

If you find GAUGE useful in your research, please consider citing:

``` bibtex
@article{Wang2026,
  title={GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models},
  author={Wang, Shuai and Feng, Yaxin and Jiang, Xuekun and Tian, Shihan and others},
  year={2026},
  copyright = {arXiv.org perpetual, non-exclusive license},
  doi       = {10.48550/ARXIV.2608.05948},
  keywords  = {Artificial Intelligence (cs.AI), Computer Vision and Pattern Recognition (cs.CV), Robotics (cs.RO), FOS: Computer and information sciences},
  publisher = {arXiv},
}
```