Simulation Evaluation

VNB matched or exceeded CEM across the three friction regimes, with the largest gains under nominal and bimodal friction. Gaussian and Gaussian-CVaR had identical aggregate simulation results in all regimes. Simulation contact parameters were modified for stability, which limits direct correspondence to the hardware fingertips. Simulation used MuJoCo with an 11-DoF hand on a 6-DoF arm. The perturbation protocol included lateral impulses, torque impulses, and friction drops. The simulation evaluated seven objects across beta values and three randomization settings per condition.