Real-to-simExpert
LiteReality-Agent: An Agentic System for Interactable 3D Indoor Scene Reconstruction
This preprint introduces LiteReality-Agent, an agentic system that converts consumer RGB-D room scans into editable, articulated and MuJoCo-ready 3D scenes by having a coding agent iteratively maintain an executable Python scene program. On ten rooms and 620 capture views it reports PSNR 14.13 dB and depth MAE 10.5 cm, with zero detected furniture intersections, beating GPT-6 and Fable 5.1 baselines. The public code and capture app give robotics teams a practical real-to-sim authoring foundation.