---
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 | 
| Fall of a trirectangular tetrahedron | Slope collisions | 1 | Wood, Plastic |
| Rigid Body | Nonsmooth Contact | 
| Fall of wedges and pyramids | Codimensional collisions | 3 | Wood, Plastic |
| Rigid Body | Slope Slider | 
| Slide of a cube on a slope | Static and kinetic friction | 3 | Wood, Plastic, Metal |
| Rigid Body | 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 | 
| Fall and bouncing of a ball | Rapid impact | 1 | Rubber |
| Rigid Body | Newton's Cradle | 
| Collision of closely fitted balls | Momentum transfer | 1 | Metal |
| Rigid Body | Wall Breaking | 
| Collision of a wrecking ball with a wall | Large-scale dense collisions | 1 | Wood |
| Rigid Body | Pendulum | 
| Oscillation of a ball | Periodic motion | 1 | Metal |
| Flexible Cable | Rope Winding | 
| Winding of a rope | Self-collision and stretch modulus | 1 | Rubber |
| Textile | Textile Stretching | 
| Tensile deformation of a textile | Stretch modulus | 1 | R, S, U, O, L, N |
| Textile | Textile Bending | 
| Natural sagging of a textile | Bending modulus | 1 | R, S, U, O, L, N |
| Textile | Textile Flinging | 
| Fluttering of a textile | Motion under locally high acceleration | 1 | R, S, U, O, L, N |
| Textile | Funnel | 
| Passage of textiles through a hole | Collision, friction | 1 | R, S, U, O, L, N |
| Textile | Rotating Ball | 
| Motion of a textile driven by a rotating ball | Static and kinetic friction | 1 | R, S, U |
| Textile | Tablecloth Pulling | 
| Pulling a textile from beneath rigid objects | Static and kinetic friction | 1 | Wood, Plastic, Metal |
| Volumetric Deformable Body | Foam Stretching | 
| Stretching of an elastic cuboid | Stretching modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Compression | 
| Compression of an elastic cuboid | Compression modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Shearing | 
| Shearing of an elastic cuboid | Shear modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Twisting | 
| Twisting of an elastic cuboid | Twisting modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Foam Bending | 
| Bending of an elastic cuboid | Bending modulus | 1 | Soft, Hard |
| Volumetric Deformable Body | Stick-Stack | 
| Sliding of an elastic rod on a plane | Static and kinetic friction | 1 | Soft, Hard |
| Volumetric Deformable Body | 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},
}
```