Bounded-Fidelity Sim-as-Demo-Stage: Mocap Handoff for Governance Benchmarks

arXiv:2610.00008v1 Announce Type: cross Abstract: Sim-to-real research pursues physics fidelity as a primary objective: simulators are judged by how closely they reproduce real-world contact dynamics. For governance benchmarking of LLM-driven robots, where the simulator demonstrates that an admission/policy/contract/audit pipeline behaves correctly, contact fidelity at object handoffs (grasp, carry, place) becomes a liability: contact-force integration noise injects audit-chain divergence that is structurally unrelated to the governance property under test. We propose bounded-fidelity sim-as-d

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