Author

Shuai Fang

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Preprint Aug 2026

R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim

This work presents R2S-EGO, which couples a simulator-derived robot proxy that represents the behavior-scoped executable query domain with a capture-anchored geometry proxy that supplies scene-specific structural conditions.

Shuai Fang, Xin Deng, Yuchen Kang et al. · 1 citation