# φ-RIE: From Photorealistic Reconstruction to Interactive Environments

arXiv: https://arxiv.org/abs/2609.26795 · HTML: https://mlsanity.com/paper/2609.26795/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 33 of its 39 references that are in the map.
- First posted on arXiv 22 Sep 2026.

## Builds on (most cited first, 30 of 33)

- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesis](https://mlsanity.com/paper/2307.01952/) (2023)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [2D Gaussian Splatting for Geometrically Accurate Radiance Fields](https://mlsanity.com/paper/2403.17888/) (2024)
- [Structured 3D Latents for Scalable and Versatile 3D Generation](https://mlsanity.com/paper/2412.01506/) (2024)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Resolution-robust Large Mask Inpainting with Fourier Convolutions](https://mlsanity.com/paper/2109.07161/) (2021)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [Evaluating Real-World Robot Manipulation Policies in Simulation](https://mlsanity.com/paper/2405.05941/) (2024)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [PhysGaussian: Physics-Integrated 3D Gaussians for Generative Dynamics](https://mlsanity.com/paper/2311.12198/) (2023)
- [GaussianEditor: Swift and Controllable 3D Editing with Gaussian Splatting](https://mlsanity.com/paper/2311.14521/) (2023)
- [SAM 3D: 3Dfy Anything in Images](https://mlsanity.com/paper/2511.16624/) (2025)
- [Native and Compact Structured Latents for 3D Generation](https://mlsanity.com/paper/2512.14692/) (2025)
- [Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation](https://mlsanity.com/paper/2403.03949/) (2024)
- [iSDF: Real-Time Neural Signed Distance Fields for Robot Perception](https://mlsanity.com/paper/2204.02296/) (2022)
- [RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots](https://mlsanity.com/paper/2603.04356/) (2026)
- [SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting](https://mlsanity.com/paper/2409.10161/) (2024)
- [Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search](https://mlsanity.com/paper/2205.02961/) (2022)
- [Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation](https://mlsanity.com/paper/2408.14873/) (2024)
- [Re3Sim: Generating High-Fidelity Simulation Data via 3D-Photorealistic Real-to-Sim for Robotic Manipulation](https://mlsanity.com/paper/2502.08645/) (2025)
- [ReconViaGen: Towards Accurate Multi-view 3D Object Reconstruction via Generation](https://mlsanity.com/paper/2510.23306/) (2025)
- [PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies](https://mlsanity.com/paper/2512.16881/) (2025)
- [GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation](https://mlsanity.com/paper/2510.20813/) (2025)
- [SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation](https://mlsanity.com/paper/2606.28276/) (2026)
- [HoloScene: Simulation-Ready Interactive 3D Worlds from a Single Video](https://mlsanity.com/paper/2510.05560/) (2025)
- [DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments](https://mlsanity.com/paper/2507.21981/) (2025)
- [SimRecon: SimReady Compositional Scene Reconstruction from Real Videos](https://mlsanity.com/paper/2603.02133/) (2026)
- [Chorus: Multi-Teacher Pretraining for Holistic 3D Gaussian Scene Encoding](https://mlsanity.com/paper/2512.17817/) (2025)

## Abstract (arXiv)

3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physical interaction. Robot simulation instead requires object-level change, textiti.e., objects must move independently, make contact, and reveal previously occluded surroundings. This gap arises because object appearance may remain entangled with the background, while hidden object geometry and occluded background content may be unobserved. To address this challenge, we present φ-RIE, a Gaussian-native pipeline that converts selected objects into movable simulator assets while preserving the remaining reconstruction. Our key observation is that asset construction and source removal should be coupled, textiti.e., one object identity should define the movable asset and the scene content to remove and complete. Accordingly, Scene Observation supplies shared evidence to Coupled Scene Construction, which creates registered assets and completed background Gaussians for simulator-driven rendering in an Interactive Environment. This coupling preserves unedited Gaussians while aligning visual and physical state. On 50 ScanNet++ scenes, evidence-based selection and registration retry increase matched F1 at 20,mm from 0.336 to 0.383 at fixed retention. Further tests demonstrate asset executability, manipulation gains over a single-generator baseline, and the visual cost of conversion. Together, these results demonstrate that name enables interactive scene conversion.