SPARCS: Simulation-Ready Scene Reconstruction
yifengzhu_ut · x · 2026-07-16
Rory Wei Cheng shared a paper accepted by **RSS 2026**, presenting **SPARCS**: a method for reconstructing cluttered scenes into a "directly simulatable" state. ### Method Highlights - Input: **A single RGB-D image**; - Core: Jointly optimizing **shape and pose**; - Goal: Adjusting objects in the scene to states that better reflect physical contact relationships, preventing them from "exploding" when placed directly into a simulation. ### Problem Solved While existing image-to-3D methods can generate models, they are **not necessarily physics-aware**. SPARCS aims to directly generate assets that can be dropped into a simulator.
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