Author

Matthew Tancik

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#artificial intelligence Preprint Oct 2026

SceneRig: An Agentic System for Simulation-Ready 3D Scene Reconstruction from Single Images

Simulation is a powerful tool for robotics, but building diverse, simulation-ready scenes at scale remains difficult. Reconstructing scenes from single images is a promising alternative, but visual similarity alone is insufficient: objects must also be recovered, accurately placed, and physically grounded. Existing met...

Run-Dong Luo, Yu-Nong Liu, Dian-Long Cao et al. · 0 citations

#artificial intelligence Preprint Oct 2026

LIBERO-RIG: A Hardware-Setup Robustness Benchmark for Vision-Language-Action Models

Robot policies are expected to generalize across deployment environments, including variations in the robot itself: cameras are bumped and remounted, calibrations drift, controllers run at different rates, and end-effector pads wear down. We present LIBERO-RIG, a benchmark that perturbs only the robot's hardware and se...

Andrea Yaoyun Cui, Han-Yu Wang, Xin-Yi Wang et al. · 1 citation