Real → simulation → real / An older adult’s home
An older adult’s home,
reconstructed.
I use this reconstruction of an older adult’s home as an environment for robot training in simulation. It connects that work to the kind of everyday setting where I hope robots can help.
Click inside to use WASD. Drag to look; choose Orbit to rotate around a point. Arrow keys turn, Q/E change height. Wheel scrolls the page. Manual control pauses the tour.
Learning for everyday assistance
Alongside the laboratory reconstruction, this home is part of my real-to-sim-to-real work. Both provide reconstructed environments for training; the goal is to bring learned skills back to real places and useful assistance for older people.
Use WASD and drag to explore the visual reconstruction here. Robot training takes place in a separate simulation environment; this browser preview shows the room itself.
About the reconstruction and web copy
The web copy contains 1,782,280 Gaussians with SH degree 3 retained. It was converted locally from a 421.5 MiB PLY. The compression quantizes parameters; the original is unchanged.
This is a visual reconstruction with no collision model. Free flight can pass through surfaces, and unseen areas may show gaps. No captured camera path was supplied for this scene.