Add model card with paper, project page, code links, and robotics tag

README.md

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-license: mit
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+---
+license: mit
+pipeline_tag: robotics
+---
+
+# Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
+
+This repository contains the official implementation of the **Real-to-Sim-Policy-Eval** framework, introduced in the paper "[Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions](https://huggingface.co/papers/2511.04665)".
+
+The framework constructs soft-body digital twins from real-world videos and renders robots, objects, and environments with photorealistic fidelity using 3D Gaussian Splatting. It enables reproducible, scalable, and accurate evaluation of robotic manipulation policies, particularly for tasks involving deformable objects.
+
+Project page: https://real2sim-eval.github.io/
+
+Code: https://github.com/kywind/real2sim-eval
+
+## Overview
+The main components of the framework include:
+- Construction of simulation assets: visualizing object Gaussians, articulating robot Gaussians, defining and rendering different object layouts.
+- Deployment of trained PhysTwin for simulating deformable object Gaussians.
+- Training policies using a dedicated policy training submodule.
+- Evaluation of policies within the constructed simulation environment.
+- Interactive control of the Gaussian-based simulation.
+
+More details can be found on the project page and in the GitHub repository.
+
+## Citation
+If you find this work useful, please consider citing the paper:
+```bibtex
+@article{zhang2025real,
+    title={Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions},
+    author={Zhang, Kaifeng and Sha, Shuo and Jiang, Hanxiao and Loper, Matthew and Song, Hyunjong and Cai, Guangyan and Xu, Zhuo and Hu, Xiaochen and Zheng, Changxi and Li, Yunzhu},
+    journal={arXiv preprint arXiv:2511.04665},
+    year={2025}
+}
+```