# SimuGuard: Auditing Contact Artifacts in Simulation Benchmarks Such as LIBERO and RoboTwin

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/x2bul7oudbrxqi2krb6gpj4om
- Original: https://arxiv.org/abs/2610.41857

## Summary

The authors propose SimuGuard, an auditing plugin for LIBERO, RoboTwin, RoboCasa, and RoboDojo that identifies failures caused by the simulator rather than the policy. On RoboTwin, the authors trace these failures to the physics engine's collision detection: when geometry is 1 to 2 centimeters apart, the engine reports a penetration of about 2 centimeters, and the solver ejects the object at several meters per second because the distance algorithm discards triangles below a fixed area threshold.

## Why it matters

The original traces failures in simulation benchmarks to a physics engine collision detection constant and provides a before-and-after success rate comparison, which can serve as a reference for teams doing simulation evaluation.