Bounded-Fidelity Sim-as-Demo-Stage: Mocap Handoff for Governance Benchmarks
Read the original on arXiv AI →The paper introduces a bounded‑fidelity sim‑as‑demo‑stage design pattern that suppresses contact physics during object handoffs in simulators, using MuJoCo’s mocap‑body primitive and a lightweight Python adapter. This approach ensures audit‑chain stability, producing identical event‑log hashes across 1,000 replays per posture, whereas a contact‑force baseline yields significant divergence. The authors demonstrate that the pattern maintains reproducibility across various timesteps and sequential handoffs with minimal overhead, and they identify contexts where it should not be applied.
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