ResearchBenchmarksReal2Sim Reconstruction and Interaction Prediction on Toy4K real-world experimentFollow73.3StabilityOurs12.66828.40944.1559.891Feb 13, 2026Evaluation ResultsMethodMethodLinksStabilitySettling Time (s)Translational Velocity (m/s)Angular Velocity (rad/s)Initial Displacement Error (mm)Final Displacement Error (mm)PSNRSSIMLPIPSOursObservation Setting=Si...Observation Setting=Single-view, Task=Robot pushing interaction replay2026.0273.30.690.0080.0839.762.617.8910.09SAM3D+ICPObservation Setting=Si...Observation Setting=Single-view, Task=Robot pushing interaction replay2026.021520.0531.5321.3—20.93940.06