What we test, and what it actually measured
Short studies from our Scene→Sim→Skill pipeline: a real capture becomes a simulation, and a policy learns a skill inside it. One question per study, the numbers we got, and the parts that didn't work.
Research Studies
Study 04 · Sim→Skill A humanoid that wipes a counter with a cloth
A Unitree G1 learns an autonomous kitchen-wipe skill from 22 teleoperation demos. VBD deformable cloth, contact-rich manipulation, end-to-end pipeline — trained in a sim twin of a real kitchen.
Study 03 · Scene→Sim From an RGB video to a parametric kitchen
A real kitchen captured on a phone, turned into a watertight parametric CAD model — every cabinet, counter and shelf a separate solid — and loaded into FOI Sim as a training environment.
Study 02 · Sim→Skill A humanoid that walks — and dribbles — inside a Gaussian splat
A closed-loop Unitree G1 walking in FOI Sim native physics, dropped into a real garden reconstructed as a Gaussian splat. No animation, no keyframes — and the policy has never seen the ball.
Study 01 · Scene→Sim PPISP on a real 3-camera capture
NVIDIA just shipped PPISP. We put it through a clean ablation inside our Scene→Sim pipeline — same capture, same 30k iterations, one toggle. Drag to see the difference.
Reproduction Studies
Reproduction 002 · Open A humanoid pipettes in a lab. What does the video prove?
A viral clip carries a claim of 69% success across three tasks. It shows one task, once, with no tactile signal, no baseline and no primary source. We audit what the footage actually establishes — and open the experiment that would test it.
Reproduction 001 · Baseline We ran a published result again and got a different number
A released Diffusion Policy checkpoint reports 65.4% success on PushT. We evaluated the same checkpoint over 500 episodes and measured 62.0% — a gap of 1.6 standard errors. What we did, and what could explain it.
AI for Humanoids
Forenly AI turns real scenes into simulation where humanoids learn their skills — then transfers them onto the machine.