SceneRig: An Agentic System for Simulation-Ready 3D Scene Reconstruction from Single Images

Abstract

Simulation is a powerful tool for robotics, but building diverse, simulation-ready scenes at scale remains difficult. Reconstructing scenes from single images is a promising alternative, but visual similarity alone is insufficient: objects must also be recovered, accurately placed, and physically grounded. Existing methods that rely on post-hoc physics settling often misplace objects, producing scenes that look correct but behave poorly under manipulation. We present SceneRig, an agentic system that turns a single image into an editable, simulation-ready scene. SceneRig combines geometric, visual, and physical tools to reconstruct a faithful 3D scene. An agent then performs edit-and-validate loops inside a physics simulator to achieve physical stability. Across diverse inputs, SceneRig improves instance segmentation, object-centric appearance, and 3D placement while keeping the reconstructed scenes physically stable. Furthermore, SceneRig is effective for downstream robotics: its scenes predict real-robot policy outcomes more accurately than the baseline method and more reliably support replay of recorded manipulations without trajectory adaptation.