How to rebuild 3D scenes from photos that won't fall apart when simulated

Reconstructing usable 3D scenes from single photos remains hard because objects sink, hover, or overlap when physics engines test them. SimuScene feeds physics diagnostics back into the shape and layout estimation process itself—simulating objects under gravity and using failures to guide geometric corrections. The result: stable, physically plausible scenes that robots can actually use, demonstrated on humanoid control and arm manipulation tasks.