Rundong Luo, Yunong Liu, Di Cao, Matthew Tancik, Shyamal Buch, Colton Stearns, Wenqi Xian · 2026 · arXiv
DOI: 10.48550/arXiv.2610.28585 · open-access PDF
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 methods that rely on post-hoc physics settling often misplace objects, producing scenes that look correct but behave poorly under manipulation. We present SceneRig, an agentic system that turns a single image into an editable, simulation-ready scene. SceneRig combines geometric, vis
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