Click and Drag / Zoom-in(out) interactive demo to see simulation result everywhere (when not shown please refresh page).
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Inspect VideoMimic reconstructions next to CRISP and the original footage. Each card shows the input video alongside both interactive viewers for direct comparison.
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CRISP reconstructs physics-ready motion and scene primitives from monocular video, then grounds a contact-aware policy for simulation and downstream control.
Click and Drag / Zoom-in(out) inside each Viser viewer to orbit the scene and scroll to zoom. Press play to watch the simulation from your chosen angle.
View the scene-aware policy galleryIf you find our repository useful, please consider giving it a star ⭐ and citing our paper in your work:
@article{wang2025crisp,
title={CRISP: Contact-guided Real2Sim from Monocular Video with Planar Scene Primitives},
author={Wang, Zihan and Wang, Jiashun and Tan, Jeff and Zhao, Yiwen and Hodgins, Jessica and Tulsiani, Shubham and Ramanan, Deva},
journal={arXiv preprint arXiv:2512.14696},
year={2025}
}
We extend our deepest gratitude to Guanya Shi for invaluable feedback and insightful discussions on CRISP. We thank Qitao Zhao for writing suggestions, Arthur Allshire for helping set up baselines, Zhengyi Luo and Yuxuan Kuang for early stage discussions, Luna Shi and Weiyu Li for helpful discussions. The research project is funded by Bosch Research Center for Artificial Intelligence.