Nvidia Isaac Sim

Follow this topic Ask about this topic

Momentum

6 papers in the last four weeks, up 50% on the four weeks before. 0.1% of all new papers.

Jul 13Week of Sep 28

Latest papers 51

All topics

Crossing the Cyber Divide: Sim-to-Sim and Sim-to-Real Transfer for RL Agents
Sep 30, 2026Sabrina Saika, Yinuo Du, Aritran PiplaiSim-To-Real Reinforcement Learning Sim-To-Real Gap
The University of Texas at El Paso, El Paso, TX, USA
SimEX: Simulation-Integrated Robotics AutoResearch
Sep 30, 2026Jiaheng Hu, Roberto Martin-Martin, Peter Stone +3Robotic Systems Multi-Agent Simulations
Amazon FAR (Frontier AI & Robotics) · The University of Texas at Austin · Carnegie Mellon University
SimTrace: Grounded Multimodal User Trajectories Generation for Online User Modeling
Sep 29, 2026Yunan Lu, Shuang Xie, Meghna Allamudi +4User Modeling User Simulation
Shopify · Columbia University
PowerSim: Differentiable Physics Simulation and Rendering with Power Diagrams
Sep 29, 2026Trong-Tung Nguyen, Anand BhattadPhysics Simulation Nvidia Isaac Sim
Johns Hopkins University
Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Sim
Sep 27, 2026Ivan Kapelyukh, Yafei Hu, Ran Gong +6Spatial Reasoning Robotic Systems
Robotics and AI Institute · Imperial College London
Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence
Sep 14, 2026Shilong Zou, Shilin Zhang, Yingji Zhang +8Embodied Artificial Intelligence Action Space
Beijing Innovation Center of Humanoid Robotics (X-Humanoid) WFM System Group
Sim2Signal: Sim-to-Real Benchmarks for Traffic Signal Control
Sep 1, 2026Ferdous Al Rafi, Susrik Mukherjee, Latika Liladhar Dekate +6Traffic Signal Control Sim-To-Real Gap
Arizona State University
A Glance Is All You Need: Single-Pass Fine-Grained Image Captioning with SimLoss
Sep 1, 2026Suryaansh Jain, Rahasya Barkur, Vishal G +8Image Difference Captioning Behavioral Embeddings
University of Massachusetts Amherst · Adobe Research
LiveSim: Simulating Environment-Shaped Users in Multi-Agent Live-Stream Ecosystems
Aug 27, 2026Jiaqi Xu, Yiran Qiao, Jing Chen +3Multi-Llm Agents Synthetic Environments
University of Chinese Academy of Sciences, Beijing 100049, China · ByteDance China
SimCast-S2S: A Computationally Efficient Diffusion Model for Subseasonal Precipitation Forecasting
Aug 27, 2026Hiep V. Dang, Antonios MamalakisPrecipitation Nowcasting Global Climate Models
Department of Environmental Sciences, University of Virginia, Charlottesville, VA 22903, United States · School of Data Science, Department of Environmental Sciences, University of Virginia, Charlottesville, VA 22903, United States
EsaacSim: A Multimodal Event Camera Add-on for NVIDIA Isaac Sim
Aug 9, 2026Ignacio Bugueno-Cordova, Malte Kuhlmann, Nicolás Navarro-Guerrero +2Nvidia Isaac Sim Mobile Robots
Leibniz Universität Hannover, L3S Research Center, Hanover, Germany · Ekumen, Buenos Aires, Argentina · University of Southern Denmark, Odense, Denmark +1
IcFuzz: Fuzzing Isaac Sim with Semantic Stage Guidance and Multi-level Mutation
Aug 6, 2026Zhixiang Chen, Zhuangbin Chen, Ruoxi Jia +4Fuzzing Nvidia Isaac Sim
Sun Yat-sen University Zhuhai, China · Zhuhai Key Laboratory of Trusted Large Language Models, Sun Yat-sen University, Zhuhai, China · Nanyang Technological University Singapore, Singapore +1
SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
Aug 4, 2026Nie Lin, Takehiko Ohkawa, Sijin Chen +10Egocentric Video Dexterous Manipulation
1The University of Tokyo · *Work done at ByteDance Seed · 3The University of Hong Kong +3
UniSim-SLAM: Feed-Forward SLAM with Unified Sim(3) Optimization
Aug 3, 2026Inha Lee, Dongjae Jeong, Junhee Lee +1Orb-Slam2 Simultaneous Localization And Mapping
lsan National Institute of Science and Technology, Ulsan, Korea
Similarity Weighted Aggregation with Global Differential Privacy for Federated Brain Lesion Segmentation
Aug 1, 2026Muhammad Irfan Khan, Eero Lehtonen, Joni Obradovic +4Federated Learning Brain Tumor Segmentation
Turku University of Applied Sciences, Turku 20520, Finland
Spline-Based Boundary Representations for Sparse View Reconstruction and Simulation Using Isogeometric Analysis
Jul 28, 2026Davor Dobrota, Vsevolod Skorokhodov, Chenghao Xu +2Splines Finite Element Method
Schindler Lab EPFL, Schindler AG, EPFL Innovation Park, Lausanne, 1015, Vaud, Switzerland. · Chair of Numerical Modelling and Simulation, ´Ecole polytechnique f´ed´erale de Lausanne, Station 8, Lausanne, 1015, Vaud, Switzerland. · Intelligent Maintenance and Operating Systems Lab, ´Ecole polytechnique f´ed´erale de Lausanne, Station 18, Lausanne, 1015, Vaud, Switzerland.
HybridSim: A Physics-Learning Hybrid Digital Twin for mmWave Human Sensing
Jul 17, 2026Weitao Xiong, Tianyu Liu, Peng Li +4Millimeter Wave Nvidia Isaac Sim
1Xiamen University Malaysia · 2The Hong Kong University of Science and Technology · University of North Carolina at Charlotte
Learning Speaker Identity Beyond Language and Modality Constraints: Insights from the POLY-SIM 2026 Challenge
Jul 15, 2026Marta Moscati, Muhammad Saad Saeed, Marina Zanoni +9Speaker Modalities
Institute of Computational Perception, Johannes Kepler University Albatross AI Linz, Austria · University of Michigan-Flint Flint, United States of America · BDO DIGITAL Gmbh Düsseldorf, Germany +5
VQCSim: When Does Compile-Once Statevector Simulation Beat Generic Quantum Frameworks?
Jul 13, 2026Anton Firc, Martin Perešíni, Vojtěch Mrázek +7Variational Quantum Circuits Hybrid Quantum-Classical Pipeline
EvoAI Hardware Group, Brno University of Technology, Brno, Czech Republic · eBRAIN Lab, Division of Engineering, New York University Abu Dhabi (NYUAD), Abu Dhabi, UAE · Center for Quantum and Topological Systems (CQTS), NYUAD Research Institute, NYUAD, Abu Dhabi, UAE
GraspIT: A Dataset Bridging the Sim-to-Real gap and back for Validated Grasping SE(3) Pose Generation
Jul 7, 2026Paul Koch. Adem Karakurt, André SersRobotic Grasping Robotic Manipulation Policies
Fraunhofer IPK Pascalstraße 8-9, 10587 Berlin, Germany
SupplyNetPy: An Open-Source Python Library for High-Fidelity Modeling and Simulation of Arbitrary Supply Chain and Inventory Networks
Jul 3, 2026Tushar Lone, Neha KaranjkarSupply Chain Optimization Inventory Control
School of Mathematics and Computer Science, Indian Institute of Technology Goa, Ponda, Goa, INDIA
SIMAX: A Scalable and Interpretable Framework for Multi-Fidelity and Annotated Clinician-Patient Dialogue Simulation
Jun 29, 2026Zhuhan Bao, Rui Yang, Bohao Yang +16Simulated Patients Conversational Datasets
Department of Biostatistics and Bioinformatics, Duke University School of Medicine, Durham, NC, USA · Duke-NUS AI + Medical Sciences Initiative, Duke-NUS Medical School, Singapore, Singapore · Centre for Biomedical Data Science, Duke-NUS Medical School, Singapore, Singapore +16
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
Jun 26, 2026Nadun Ranawaka, Josiah Wong, Wei-Lin Pai +15Sim-To-Real Reinforcement Learning Simulation-Based Reinforcement Learning
NVIDIA · Stanford University · The University of Texas at Austin +2
Perceptual 3D Simulation With Physical World Modeling
Jun 25, 2026Wanhee Lee, Klemen Kotar, Rahul Mysore Venkatesh +23D Perception 3D Generation
1Stanford University
OSC2Runner: OpenSCENARIO 2.x Compliant High-Fidelity AV Simulation in CARLA
Jun 25, 2026Thoshitha Gamage, Lasanthi GamageScenario Generation Nvidia Isaac Sim
Southern Illinois University Edwardsville, Edwardsville, IL, USA · Webster University, St. Louis, MO, USA
A welding penetration prediction model for laser welding process based on self-supervised learning using physics-informed neural networks
Jun 24, 2026Sen Li, Xiaoying Liu, Xiaojian Xu +5Molten Pool Self-Supervised Learning
Shanghai Key Laboratory of Materials Laser Processing and Modification, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China. · Shanghai Shipbuilding Technology Research Institute, Shanghai 200032, China.
How Should a Simulation-to-Reality Transfer Budget Be Spent?
Jun 20, 2026Syed Hamzah Rizvi, Yash Vardhan TomarSim-To-Real Gap Nvidia Isaac Sim
Purdue University West Lafayette, USA
Sim2O: Efficient Offline-to-Online MARL via Joint Action Composition
Jun 19, 2026Bingchang Song, Yiqin YangMulti-Agent Reinforcement Learning Global Coordination
Department of Computer Science and Engineering, Washington University in St. Louis · The Key Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
MoonSplat: Monocular Online Gaussian Splatting with Sim(3) Global Optimization
Jun 16, 2026Guo Pu, Yixuan Han, Haofeng Li +33D Reconstruction Rosetta
Wangxuan Institute of Computer Technology, Peking University, China · Beijing Hydrogen Intelligent Tech. Co., Ltd., China
SidewalkBench: Benchmarking Visual Navigation on Urban Sidewalks
Jun 15, 2026Zhizheng Liu, Honglin He, Vivek Alumootil +4Pedestrian Object Goal Navigation
University of California, Los Angeles · Coco Robotics
JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
Jun 15, 2026Peidong Liu, Yongce Liu, Songyan Guo +34Robotic Data Acquisition Nvidia Isaac Sim
Joy Future Academy, JD Group
ASTRA-sim 3.0: Next-Level Distributed Machine Learning Simulations via High-Fidelity GPU and Infrastructure Modeling
Jun 9, 2026William Won, Jinsun Yoo, Tuan Ta +16Graphics Processing Unit Architectures Hardware Efficiency
AMD Research and Advanced Development · Georgia Institute of Technology · Keysight +1
Dash2Sim: Closed-Loop Driving Simulation from in-the-wild Dashcam Videos
Jun 5, 2026Anurag Ghosh, Francesco Pittaluga, Khiem Vuong +4Autonomous Driving Simulation Nvidia Isaac Sim
1Carnegie Mellon University · 2NEC Labs America · 3MIT∗ +1
NVIDIA Isaac Sim: Enabling Scalable, GPU-Accelerated Simulation for Robotics
Jun 2, 2026Sicong Gao, Maurice Pagnucco, Tomasz Bednarz +1Nvidia Isaac Sim Scalable Robot Learning
School of Computer Science and Engineering, The University of New South Wales · NVIDIA USA
SimSD: Simple Speculative Decoding in Diffusion Language Models
Jun 1, 2026Junxia Cui, Haotian Ye, Runchu Tian +9Diffusion Language Models Speculative Decoding
University of California San Diego · University of Illinois Urbana-Champaign · 3Google +1
A Simulation Platform for Flapping-Wing Vehicles
Jun 1, 2026Haichuan Li, Tomi WesterlundRotorcraft Aerodynamics
University of Turku
Quantifying the Energy Floor: Direct Measurement and Replay Buffer Bias in SAC-Based HVAC Control on sbsim
Jun 1, 2026Bo Li, Chen ZhangHvac Control Energy-Efficient
Shanghai Jiao Tong University College of Smart Energy Shanghai, China
LP5X-PIM Sim: A High-Fidelity HW/SW Integrated Simulator for LPDDR5X-PIM
May 30, 2026SangHoon Cha, Jaewan Choi, Byeongho Kim +3Hardware Efficiency Nvidia Isaac Sim
Samsung Electronics, South Korea
HyperSim: A Holistic Sim-To-Real Framework For Robust Robotic Manipulation
May 26, 2026Junyi Dong, Haotian Luo, Ziwei Xu +11Sim-To-Real Reinforcement Learning Robotic Manipulation Policies
CloudRobo Lab, Huawei Cloud Computing Technologies Co.,Ltd. · Shanghai Jiao Tong University · The University of Hong Kong
ST-SimDiff: Balancing Spatiotemporal Similarity and Difference for Efficient Video Understanding with MLLMs
May 21, 2026Bingjun Luo, Tony Wang, Chaoqi Chen +1Fine-Grained Video Understanding Video Understanding
Tsinghua University · Shenzhen University · Xidian University
Centralized vs Decentralized Federated Learning: A trade-off performance analysis
May 15, 2026Chaimaa Medjadji, Guilain Leduc, Sylvain Kubler +1Federated Learning Decentralized Autonomous Organization
University of Luxembourg
PCASim: Promptable Closed-loop Adversarial Simulation for Urban Traffic Environment
May 15, 2026Chuancheng Zhang, Zhenhao Wang, Kaizheng Li +3Autonomous Driving Adversarial Robustness
Shenzhen Research Institute of Shandong University, Shenzhen, 518057, Guangdong, China · School of Airspace Science and Engineering, Shandong University, 264209 Weihai, China. · School of Computer Science and Technology, Shandong University of Finance and Economics, 250014, Jinan, China.
UAV-Assisted Scan-to-Simulation for Landslides Using Physics-Informed Gaussian Splatting
May 11, 2026Zhenyu Liang, Jack C. P. ChengLandslides Nvidia Isaac Sim
HKUST
SimReg: Achieving Higher Performance in the Pretraining via Embedding Similarity Regularization
May 9, 2026Yan Sun, Guoxia Wang, Jinle Zeng +6Large Language Model Pretraining Pretraining
Baidu Inc. · Nanyang Technological University
Dynamics Distillation for Efficient and Transferable Control Learning
May 2, 2026Xunjiang Gu, Kashyap Chitta, Mahsa Golchoubian +2Autonomous Driving Simulation Autonomous Driving
University of Toronto · Vector Institute · NVIDIA +1
DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibration
Apr 30, 2026Yang You, Won Kyung Do, Aiden Swann +3Tactile Sim-To-Real Gap
Stanford University, United States · University of Cambridge, United Kingdom
Emergent Strategic Reasoning Risks in AI: A Taxonomy-Driven Evaluation Framework
Apr 23, 2026Tharindu Kumarage, Lisa Bauer, Yao Ma +7Large Language Model Evaluation LLM Reasoning Strategies
Amazon Nova Responsible AI
SimDiff: Depth Pruning via Similarity and Difference
Apr 21, 2026Yuli Chen, Shuhao Zhang, Fanshen Meng +4Unstructured Pruning Large Language Model Compression
Systematic Exploration of Multi-core Architectures for Efficient LLM Serving using WaferAI-SIM
Oct 7, 2025Tianhao Zhu, Dahu Feng, Erhu Feng +1Large Language Model Serving LLM Inference Optimization
Institute of Parallel and Distributed Systems, Shanghai Jiao Tong University · Department of Precision Instrument, Tsinghua University
CatSIM: A Categorical Image Similarity Metric
Apr 20, 2020Geoffrey Z. Thompson, Ranjan MaitraImage Quality Assessment Similarity and Metrics
Department of Statistics at Iowa State University, Ames, Iowa 50011, USA
EVIS: Real-Time Event Camera Simulation with Multimodal Supervision in NVIDIA Isaac Sim
Date pendingLinli Shi, Ruijun Zhang, Ziyun WangCamera Robotic Perception
Johns Hopkins University

Sep 30, 2026, cs.CRJ/K move · Enter open · S save

Crossing the Cyber Divide: Sim-to-Sim and Sim-to-Real Transfer for RL Agents

Sabrina Saika, Yinuo Du, Aritran Piplai

The University of Texas at El Paso, El Paso, TX, USA

Sim-To-Real Reinforcement Learning Sim-To-Real Gap Multi-Agent Simulations Nvidia Isaac Sim

Open paper AskPDF arXiv

Cyber attack agents are typically trained and evaluated within a single simulator, making it unclear whether learned policies transfer beyond the environments in which they were developed. This limitation hinders both deployment and fair comparison, as cyber simulators differ substantially in their state representations, observation models, and action spaces. In this paper, we study policy transfer across cyber environments and argue that simulator-to-simulator and simulator-to-real transfer can be viewed as instances of the same underlying alignment problem. We propose a framework that separates state alignment from action translation, enabling a policy trained in one environment to operate in another without retraining. We evaluate transfer across four cyber platforms, CyberBattleSim, NetSecGame, CyberWheel, and NASim, including emulated deployments in NASim. Our experiments show that zero-shot transfer is feasible, fully preserving source-policy performance in closely aligned environments and achieving 45.2% win rates when transferring policies whose source performance is 60.5%. In emulated virtual machine environments, transferred policies exhibit a Jensen-Shannon divergence of 0.085 from native policies, indicating strong behavioral similarity. Code and benchmarks are available at: https://anonymous.4open.science/r/RL-Transfer-between-env-4F47/.

Momentum

Related topics

Latest papers 51