Simulation Is Back: Scaling Contact-Rich, Long-Horizon Manipulation

Robot learning fundamentally depends on access to abundant, high-quality, and low-cost data. Humanoid robots present unique challenges and opportunities—combining locomotion over rigid terrains (mostly) with manipulation of diverse, often deformable, objects. While synthetic data has driven remarkable progress in locomotion through deep reinforcement learning, manipulation remains limited by data scarcity and simulation fidelity. In this talk, I will discuss our recent advances in simulation technology inspired by our breakthroughs in computer graphics, aimed at enabling more effective humanoid learning for complex loco-manipulation tasks. Our new simulation engine delivers significant improvements in both speed and accuracy for deformable object dynamics, unlocking a wide range of contact-rich tasks previously deemed infeasible. I will conclude by outlining how these advances may shape the next frontier of humanoid intelligence, where realistic synthetic data bridges the gap between simulation and the real world.