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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/uiko8lcor8r16k0gkizvfaqfx
- Original: https://arxiv.org/abs/2610.34452

## Summary

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.