Peer-reviewed methodology and dated preprints. All open access, community-reviewable, verifiable on request.
Frontier robotics models converge on the same bottleneck: narrow real-world data is expensive to capture but generalises poorly, while pure simulation is cheap but suffers from the sim-to-real gap. This paper introduces Real-to-Sim Enrichment (RSE), a systematic method for turning a single narrow real capture into a distribution of validated simulation variants, scored across a V0 → V3 taxonomy representing physical fidelity and behavioural transferability.
The comprehensive research monograph. Twenty-four chapters, three appendices, glossary, IEEE bibliography. Formalises the twelve architectural components of RSEF, provides mathematical foundations for the V0–V3 validation scoring, and documents case studies from cleaning-domain and material-handling deployments.
