ReVeal: A Reconstruction-Aware Real-to-Sim Framework for VLA Policy Evaluation
ReVeal is presented, a real-to-sim assessment framework combining workspace reconstruction, reconstruction-level assessment, and matched closed-loop policy evaluation that develops PGSR-D, a reconstruction pipeline incorporating monocular depth supervision to improve geometry where multi-view visual cues are limited.
Xin-Yi Wang, Heng Hao, Wen-Jun Hu et al.
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