A Reconstructed Scene Became a Robot Simulator

The φ-RIE pipeline converts selected objects in 3D Gaussian-splat reconstructions into movable simulator assets while preserving the rest of the scene. It couples object extraction with removal and background completion so visual and physical state stay aligned. Across 50 ScanNet++ scenes, selection and registration retry raised matched F1 at 20 millimeters from 0.336 to 0.383 at fixed retention. The work demonstrates executable conversions but also reports a visual cost from editing incomplete observations.