Forenly Lab
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.
Study 02 · Sim→Skill A humanoid that walks — and dribbles — inside a Gaussian splat
A closed-loop Unitree G1 walking in Isaac Sim 6.0 native physics, dropped into a real garden reconstructed as a Gaussian splat. No animation, no keyframes — and the policy has never seen the ball.
Isaac Sim 6.0Isaac Lab 3.0ProtoMotionsONNX
1.98×gait signature
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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.
PPISP3DGRUT2DGSGOF
+9.5 dBPSNR, on → off
Read the study The Skill Layer for humanoid robots
Forenly AI turns real scenes into simulation where humanoids learn their skills — then transfers them onto the machine.
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