Preprint
Sep 2026
Measuring Asset and Scene Reconstruction Effects in Real-to-Sim Robot Evaluation
Results show that improving the quality of the environment reconstruction through higher visual fidelity, authored physics and metric scale makes the simulation more faithful to the real world and narrows the sim-to-real gap.
Sanya Verma, Luca Cilio, Velissarios Christodoulou et al.
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