| --- |
| 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}, |
| } |
| ``` |
|
|
