YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation
Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Splatting (3DGS) enables rapid real-to-sim scene generation, the reconstruction quality required for reliable policy evaluation remains unquantified. In particular, policies relying on wrist-mounted fisheye cameras (e.g., YUBI handheld gripper data) are heavily exposed to visual artifacts (holes, floaters) in wide-angle views, directly degrading task performance. To address this, we present YUBI-Real2Sim, a unified framework for 3DGS-based scene reconstruction and real-to-sim policy evaluation under dual fisheye wr...
| Authors | Hiroki Nishizawa, Takehiko Ohkawa, Nicola Scianca et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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