Newest papers

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

Rundong Luo, Yunong Liu, Di Cao, Matthew Tancik, Shyamal Buch, Colton Stearns, Wenqi Xian · 2026 · arXiv (Cornell University)

DOI: 10.48550/arxiv.2610.28585 · cited by 0 works (OpenAlex) · open-access PDF

Hindi

सिमुलेशन रोबोटिक्स के लिए एक शक्तिशाली उपकरण है, लेकिन पैमाने पर विविध, सिमुलेशन तैयार दृश्यों का निर्माण मुश्किल है। एकल छवियों से दृश्यों को पुनर्निर्माण करना एक आशाजनक विकल्प है, लेकिन दृश्य समानता अकेले पर्याप्त नहीं है: वस्तुओं को भी पुनर्प्राप्त किया जाना चाहिए, सटीक रूप से रखा जाना चाहिए, और भौतिक रूप से जमीन पर रखा जाना चाहिए। मौजूदा तरीके जो पोस्ट-हॉक भौतिकी पर भरोसा करते हैं, अक्सर वस्तुओं को गलत तरीके से स्थानांतरित करते हैं, ऐसे दृश्यों का उत्पादन करते हैं जो सही दिखते हैं लेकिन प्रसंस्करण के तहत खराब व्यवहार करते हैं। हम SceneRig को प्रस्तुत करते हैं, एक एजेंटिक सिस्टम

Machine translation (Meta M2M100); the English original follows.

Abstract

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, visual, and physical tools to reconstruct a faithful 3D scene. An agent then performs edit-and-validate loops inside a physics simulator to achieve physical stability. Across diverse inputs, SceneRig improves instance segmentation, object-centric appearance, and 3D placement while keeping the reconstructed scenes physically stable. Furthermore, SceneRig is effective for downstream robotics: its scenes predict real-robot policy outcomes more accurately than the baseline method and more reliably support replay of recorded manipulations without trajectory adaptation.

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Topics: Computer vision, Artificial intelligence, Computer science, Trajectory, Scale (ratio), Similarity (geometry)

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