InternRobotics/GAUGE-Dataset

GAUGE Dataset

GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models

GAUGE is a real-world-grounded benchmark for evaluating the physical fidelity of numerical physics engines and generative video world models. The benchmark contains 22 controlled task families spanning rigid bodies, flexible cables, textiles, and volumetric deformable objects.

Task Overview

GAUGE contains 22 controlled task families spanning rigid bodies, flexible cables, textiles, and volumetric deformable objects.

Category	Task	Video	Description	Evaluation	Subtasks	Material
Rigid Body	Slope Contact		Fall of a trirectangular tetrahedron	Slope collisions	1	Wood, Plastic
Rigid Body	Nonsmooth Contact		Fall of wedges and pyramids	Codimensional collisions	3	Wood, Plastic
Rigid Body	Slope Slider		Slide of a cube on a slope	Static and kinetic friction	3	Wood, Plastic, Metal
Rigid Body	Turntable		Slide of a cube on a turntable	Static and kinetic friction in a non-inertial frame	3	Wood, Plastic, Metal
Rigid Body	Bouncing Ball		Fall and bouncing of a ball	Rapid impact	1	Rubber
Rigid Body	Newton's Cradle		Collision of closely fitted balls	Momentum transfer	1	Metal
Rigid Body	Wall Breaking		Collision of a wrecking ball with a wall	Large-scale dense collisions	1	Wood
Rigid Body	Pendulum		Oscillation of a ball	Periodic motion	1	Metal
Flexible Cable	Rope Winding		Winding of a rope	Self-collision and stretch modulus	1	Rubber
Textile	Textile Stretching		Tensile deformation of a textile	Stretch modulus	1	R, S, U, O, L, N
Textile	Textile Bending		Natural sagging of a textile	Bending modulus	1	R, S, U, O, L, N
Textile	Textile Flinging		Fluttering of a textile	Motion under locally high acceleration	1	R, S, U, O, L, N
Textile	Funnel		Passage of textiles through a hole	Collision, friction	1	R, S, U, O, L, N
Textile	Rotating Ball		Motion of a textile driven by a rotating ball	Static and kinetic friction	1	R, S, U
Textile	Tablecloth Pulling		Pulling a textile from beneath rigid objects	Static and kinetic friction	1	Wood, Plastic, Metal
Volumetric Deformable Body	Foam Stretching		Stretching of an elastic cuboid	Stretching modulus	1	Soft, Hard
Volumetric Deformable Body	Foam Compression		Compression of an elastic cuboid	Compression modulus	1	Soft, Hard
Volumetric Deformable Body	Foam Shearing		Shearing of an elastic cuboid	Shear modulus	1	Soft, Hard
Volumetric Deformable Body	Foam Twisting		Twisting of an elastic cuboid	Twisting modulus	1	Soft, Hard
Volumetric Deformable Body	Foam Bending		Bending of an elastic cuboid	Bending modulus	1	Soft, Hard
Volumetric Deformable Body	Stick-Stack		Sliding of an elastic rod on a plane	Static and kinetic friction	1	Soft, Hard
Volumetric Deformable Body	Cantilever Beam		Free hanging of an elastic cantilever beam	Coupling with a large stiffness ratio	1	Soft, Hard

Textile material abbreviations: R = Rayon, S = Satin, U = Uniform cloth, O = Oxford fabric, L = Synthetic leather, N = Nylon taslan.

Physical Regimes

Physical Regime	Number of Task Families	Representative Properties
Rigid Body	8	Collision, friction, momentum transfer, impact, periodic motion
Flexible Cable	1	Self-collision, stretching
Textile	6	Stretching, bending, friction, high-acceleration dynamics
Volumetric Deformable Body	7	Stretching, compression, shear, twisting, bending, friction

Dataset Contents

GAUGE provides real-world experimental measurements and task-associated physical metadata for standardized physics-fidelity evaluation. The released dataset is organized around:

• real-world motion-capture trajectories and measurements;
• simulation-ready geometry and scene assets;
• calibrated physical-property metadata;
• standardized first-frame and text-prompt inputs for video world models;

Citation

If you find GAUGE useful in your research, please consider citing:

@article{Wang2026,
  title={GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models},
  author={Wang, Shuai and Feng, Yaxin and Jiang, Xuekun and Tian, Shihan and others},
  year={2026},
  copyright = {arXiv.org perpetual, non-exclusive license},
  doi       = {10.48550/ARXIV.2608.05948},
  keywords  = {Artificial Intelligence (cs.AI), Computer Vision and Pattern Recognition (cs.CV), Robotics (cs.RO), FOS: Computer and information sciences},
  publisher = {arXiv},
}