SOURCE-LINKED INTELLIGENCE

Lucida: Parse, Generate, and Place for Composable Real-to-Sim Scene Modeling

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Composable scene modeling aims to recover a real indoor scene as complete, editable object assets arranged as observed, giving robot simulation and embodied AI a simulation-ready replica of the real environment whose objects can be manipulated individually. Existing pipelines decompose the task into three steps---parse the observations into instances, generate an asset for each, and place each asset back---but every step presumes an input that a cluttered capture rarely provides: accurate instance geometry, unoccluded views, and assets that accurately match the observations. We propose Lucida,

Read original source ↗ Open in workspace

recordType

paper

region

Global