Real2Gym: Building Gyms from Videos, Bringing Skills to Robots
Real-world videos provide rich demonstrations of manipulation, but turning them into reusable robot skills requires visually aligned environments, executable physical interactions, and mechanisms for learning from experience. We introduce Real2Gym, an agentic Real2Sim2Real framework that turns human and robot demonstrations into interactive simulation gyms and brings skills acquired in simulation to physical robots. The Real2Sim module reconstructs editable scenes, aligns objects and cameras with the input, validates demonstrated or retargeted actions through native physics execution, and generates task-conditioned variations with action-feasibility checks. Within these environments, the ...
| Authors | Kerui Ren, Yingxiang Xu, Kaiwen Song et al. |
|---|---|
| Primary category | cs.CV |
| Published | 29 September 2026 |
| Last updated at source | 29 September 2026 |
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