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    "story_id": "mp-2026-09-28-010",
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    "position": 10,
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    "section": "robotics",
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    "headline": "A Digital Twin Turned a Semantic Grasp Into a Physical One",
    "slug": "a-digital-twin-turned-a-semantic-grasp-into-a-physical-one",
    "dek": "GraspTwin treated foundation-model suggestions as seeds, then tested nearby poses in randomized physics.",
    "summary": "GraspTwin treated foundation-model suggestions as seeds, then tested nearby poses in randomized physics.",
    "body_text": "GraspTwin begins with one RGB-D observation, builds a digital twin and asks a foundation model for task-relevant grasp proposals such as using a mug handle for pouring. Rather than executing those proposals directly, it searches nearby poses with Bayesian optimization and evaluates batches in domain-randomized physics. The authors report zero-shot real-world transfer in minutes and task-oriented grasp success up to 33% above compared pipelines. The figure is specific to their objects, robot, simulator and baselines.",
    "why_it_matters": "GraspTwin treated foundation-model suggestions as seeds, then tested nearby poses in randomized physics.",
    "limitations": [],
    "importance": 9,
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    "first_published_at": "2026-09-28T09:00:00.000-04:00",
    "modified_at": "2026-09-28T09:00:00.000-04:00",
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    "source_ids": [
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    "tags": [
      "robot grasping",
      "digital twins",
      "foundation models"
    ],
    "image_url": null,
    "corrections": []
  },
  "sources": [
    {
      "source_id": "source-2026-09-28-010",
      "title": "arXiv preprint 2609.30543",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.30543",
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      "published_at": "2026-09-24T16:50:26.000-04:00",
      "accessed_at": "2026-09-28T08:26:00.000-04:00",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "A Digital Twin Turned a Semantic Grasp Into a Physical One",
    "publisher": "The Machine Press",
    "published_at": "2026-09-28T09:00:00.000-04:00",
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