arxivcs.RO2026-07-07
RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation
Shujie Zhang, Jingkun Yi, Weipeng Zhong, Zirui Zhou, Yangkun Zhu, Hanqing Wang, et al.
Recovering real-world scenes as interactive simulation environments can enable generalizable robot learning and reproducible policy evaluation. However, constructing scenes that are both physically stable and visually faithful remains slow and expensive. In this work, we present…