Wow okay there is a lot here, just so that I understand this correctly:

1. Make a replica of my home/ room in a game engine or a simulator 2. Generate trajectories with RL where the reward is hand specified by me 3. Automate trajectory rewards using some proximity flags

Some stupid questions: 1. How do I build a replica of my home? Is there an SFM algorithm I could use to do this just from camera images? 2. Would this still work even if things/ furniture move around the house? 3. This data collection strategy will have a distribution shift compared to real data so it might struggle with different lighting conditions and stuff?