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WorldMirror: An agentic framework for generating interactive simulation worlds from in-the-wild robot demonstrations

WorldMirror is an agentic real-to-sim framework that builds interactive digital twins from in-the-wild robot demonstrations. It frames real-to-sim construction as the iterative refinement of an executable world program: a coding agent decomposes the scene, plans reconstruction steps, and dispatches image and 3D generation tools, then revises the program based on verification feedback. Experiments on DROID show that the framework can reconstruct visually faithful, geometrically consistent interactive worlds while preserving the physical validity of the recorded robot trajectories.

Part of the event: WorldMirror: Generating Interactive Worlds from In-the-Wild Demonstrations

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