R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim
Real-to-sim (R2S) depends on scene representations that render observations along robot ego trajectories, yet dense multi-view capture limits per-environment real-image capture-count efficiency, and sparse human capture can leave behavior-scoped robot views under-supported. Camera-controlled synthesis can fill missing views, but its use in R2S requires behavior-admissible queries and capture-anchored structural conditioning. We present R2S-EGO, which couples a simulator-derived robot proxy that represents the behavior-scoped executable query domain with a capture-anchored geometry proxy that supplies scene-specific structural conditions. Within this domain, fixed- budget selection targets...
| Authors | Shuai Fang, Xin Deng, Yuchen Kang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 August 2026 |
| Last updated at source | 7 August 2026 |
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