Sep 20, 2026 · Artificial Intelligence

HSImul3R: Physics-in-the-Loop Reconstruction Turns Human Videos into Robot Skills

HSImul3R introduces a physics-in-the-loop framework that reconstructs simulation-ready human-scene interactions from sparse views, using scene-targeted reinforcement learning and direct simulation reward optimization to achieve stable physical interactions, validated on HSIBench and deployed on Unitree G1 robot.

3D ReconstructionECCV 2026HSIBench

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HSImul3R: Physics-in-the-Loop Reconstruction Turns Human Videos into Robot Skills