Robots must integrate multiple sensory modalities to act effectively in the real world. Yet, learning such multimodal policies at scale remains challenging. Simulation offers a viable solution, but while vision has benefited from high-fidelity simulators, other modalities (e.g. sound) can be notoriously difficult to simulate. As a result, sim-to-real transfer has succeeded primarily in vision-based tasks, with multimodal transfer still largely unrealized. In this work, we tackle these challenges by introducing MultiGen, a framework that integrates large-scale generative models into traditional physics simulators, enabling multisensory simulation. We showcase our framework on the dynamic task of robot pouring, which inherently relies on multimodal feedback. By synthesizing realistic audio conditioned on simulation video, our method enables training on rich audiovisual trajectories -- without any real robot data. We demonstrate effective zero-shot transfer to real-world pouring with novel containers and liquids, highlighting the potential of generative modeling to both simulate hard-to-model modalities and close the multimodal sim-to-real gap.
@article{arxiv.2507.02864,
title = {The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio},
author = {Renhao Wang and Haoran Geng and Tingle Li and Feishi Wang and Gopala Anumanchipalli and Trevor Darrell and Boyi Li and Pieter Abbeel and Jitendra Malik and Alexei A. Efros},
journal= {arXiv preprint arXiv:2507.02864},
year = {2025}
}