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arXiv · 2610.10479

Agentic RSR: Real-to-Sim-to-Real through Scene Reconstruction and Execution-Grounded Robot Policies

Yihan Li·Yating Feng·Shengjiu Sun·Jianing Chen·Hao Ren·Bowen Yang·Weisheng Xu·Qiwei Wu·Hui Cheng·Renjing Xu
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Abstract

A simulation of a real robot workspace must preserve task-relevant interactions, while policies developed in it must operate on observations available to the real robot. Yet scene reconstruction and policy development are often treated separately. We present Agentic Real-to-Sim-to-Real (Agentic RSR), a framework that links scene reconstruction, policy development, and real-robot execution through the same manipulation task. Given a workspace video, a task description, and a known robot model, an agent recovers metric scale, iteratively refines the scene using visual feedback, and checks task-relevant interactions in MuJoCo. A coding agent then develops an executable policy, progressing from privileged object poses to visual observations and randomized simulation. The policy can interleave multiple observations and actions within one invocation, while the agent uses execution feedback to continue, retry, or revise its approach. A shared task-level interface carries the policy and accumulated experience to the real robot, where fresh observations and safety checks guide execution. Across 18 reconstructed scenes involving two robots, the mean four-view Depth MAE against reference depth estimates is 0.1057 m, the mean Lab $ΔE_{76}$ is 11.04, and the mean grayscale SSIM is 0.6990. In real-robot experiments, the aggregate task success rate reaches 80% of the simulation task success rate, indicating substantial retention of simulated performance on hardware. Code and reconstructed scene data will be made publicly available.

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Yihan Li, Yating Feng, Shengjiu Sun, Jianing Chen, Hao Ren, Bowen Yang, Weisheng Xu, Qiwei Wu, Hui Cheng, Renjing Xu. 2026-10-07. Agentic RSR: Real-to-Sim-to-Real through Scene Reconstruction and Execution-Grounded Robot Policies. https://arxiv.org/abs/2610.10479

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