real-to-sim

USDCraft 将铰接式 3D 资产重建表述为基于部分几何证据的程序化建模任务，利用预训练 LLM 编写和修订可执行程序，生成可直接加载到 Isaac Sim 的仿真就绪资产，无需任务特定训练，并在真实到仿真到真实的机器人操作中得到验证。

Lucida proposes a method for composable indoor scene reconstruction that distributes requirements across parsing, generation, and placement using a VLM policy to create high-fidelity editable replicas from cluttered captures.