Article

AuRA: Reconstructing Digital Twins from Atoms to Bits through Autonomous Robot Interaction

AuRA is an automated robot interaction and data preparation system for digital-twin reconstruction, combining execution-aware grasp selection, gripper-motion measurements derived from robot states, and registered pre-interaction geometry and appearance priors. Across 13 deformable objects, it reduces active human labor and wall-clock collection time per successfully reconstructed asset by 88.5% and 55.4%, respectively; compared with the human-collected PhysTwin baseline, it improves 7 of 9 metrics for future prediction under known gripper motion, including a 28.1% reduction in one-way L1 Chamfer distance.

Part of the event: AuRA: Autonomous Robotic Interaction for Digital Twin Reconstruction

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