# Real2Gym

Real2Gym is an agentic Real2Sim2Real framework that reconstructs human and robot demonstration videos into visually aligned, natively physics-validated Blender and MuJoCo interactive environments, where an agent generates executable code and distills successes and failures into reusable skills, reaching 87.5% task success with roughly 75% fewer policy-execution tokens than GPT-6 Astra across 24 reconstructed DROID and EgoDex environments and turning a zero-shot real-robot failure on narrow-clearance plate placement into success after simulation-based evolution on a Franka arm.

Real2Gym is an agentic Real2Sim2Real framework that reconstructs human and robot demonstration videos into visually aligned, natively physics-validated Blender and MuJoCo interactive environments, where an agent generates executable code and distills successes and failures into reusable skills, reaching 87.5% task success with roughly 75% fewer policy-execution tokens than GPT-6 Astra across 24 reconstructed DROID and EgoDex environments and turning a zero-shot real-robot failure on narrow-clearance plate placement into success after simulation-based evolution on a Franka arm.