Sim-to-Real Transfer

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56 papers in the last four weeks, up 250% on the four weeks before. 0.4% of all new papers.

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  1. Actuator Reality Shaping for Zero-Shot Sim-to-Real Robot Learning

    Jul 2, 2026Satoshi Yamamori, Koji Ishihara, Kenjiro Minamikawa +4Robotic ControlSim-to-Real Transfer

    Graduate School of Informatics, Kyoto University, Kyoto, Japan · Dept. of Brain Robot Interface, Computational Neuroscience Labs, ATR, Kyoto, Japan

  2. Cross-Platform Control for Autonomous Surface Vehicles via Adaptive Reinforcement Learning

    Jul 2, 2026Ruiheng Jiang, Thomas Bi, Raffaello D'Andrea +1Robotic ControlRobot Trajectory Tracking

    Institute for Dynamic Systems and Control, ETH Zurich, Switzerland.

  3. BIFROST: Bridging Invariant Feature Representation for Observation-space Sim2Real Transfer

    Jul 1, 2026Yunfu Deng, Josiah P. HannaZero-Shot LearningRobot Policy Learning

    Department of Computer Sciences, University of Wisconsin–Madison, Madison, WI 53706 USA

  4. Efficient Sim-to-Real Transfer of World-Action Models from Synthetic Priors

    Jun 30, 2026Zixing Wang, Kausik Sivakumar, Jinghuan Shang +5Sim-to-Real TransferAction-Conditioned World Models

    1Purdue University · 2Robotics and AI Institute

  5. ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration

    Jun 29, 2026Heecheol Kim, Namiko Saito, Katsushi Ikeuchi +1Contact-Rich Robotic ManipulationSim-to-Real Transfer

    Microsoft Research Asia - Tokyo · The University of Tokyo

  6. FalconTrack: Photorealistic Auto-Labeled Perception and Physics-Aware Vision-Based Aerial Tracking

    Jun 29, 2026Yan Miao, Karteek Gandiboyina, Noah Giles +4Visual Object TrackingSynthetic Data Generation

    Department of Electrical and Computer Engineering, University of Illinois at Urbana Champaign · Toyota Motor North America R&D

  7. Physics Models for Sim-to-Real Transfer in Professional-Level Robot Table Tennis

    Jun 27, 2026Christian Conti, Bilan Yang, Alexander Sigrist +4Robot Dynamics IdentificationRobotics Simulation

    Sony AI, Tokyo, Japan · Sony AI, Zurich, Switzerland · Sony AI, Zürich, Switzerland

  8. SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation

    Jun 26, 2026Nadun Ranawaka, Josiah Wong, Wei-Lin Pai +15Robotics SimulationSim-to-Real Transfer

    NVIDIA · Stanford University · The University of Texas at Austin +2

  9. Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies

    Jun 26, 2026Penghui Chen, Tinglong Zheng, Yufeng Zhang +1Humanoid Robot LocomotionRobot Skill Learning

    Department of Automation, Tsinghua University, Beijing, China · Booster Robotics Technology Co., Ltd, Beijing, China · School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing, China

  10. Position: RL Researchers Need to Distinguish Between Solving Simulators and Using Simulators as a Proxy

    Jun 26, 2026Matthew Vandergrift, Esraa Elelimy, Martha WhiteRL BenchmarksReinforcement Learning

    Department of Computing Science, University of Alberta · Alberta Machine Intelligence Institute (Amii) · Canada CIFAR AI Chair

  11. Support-Constrained RL Enables Real-World Policy Improvement without Real-World Experience

    Jun 25, 2026Raymond Yu, William Huey, Mustafa Mukadam +2RL for RoboticsRobot Policy Adaptation

    University of Washington · Amazon FAR

  12. VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity

    Jun 25, 2026Yuemin Mao, Uksang Yoo, Jean Oh +2Tactile SensingContact-Rich Robotic Manipulation

    1Carnegie Mellon University · 2Bosch Center for Artificial Intelligence

  13. IDEA: Insensitive to Dynamics Mismatch via Effect Alignment for Sim-to-Real Transfer in Multi-Agent Control

    Jun 25, 2026Chenlong Liu, Zhuohui Zhang, Xinyan Chen +3Sim-to-Real TransferMulti-Agent Control

    College of Electronic and Information Engineering, Tongji University, Shanghai, China. · Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China.

  14. StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots

    Jun 24, 2026Xincheng Tang, Youhan Xie, Zhengjie Shu +5Sim-to-Real TransferTerrain-Aware Robot Locomotion

    Shanghai Jiao Tong University

  15. RadarTwin: Scene-Specific mmWave Radar Simulation and Learning for Mobile Indoor Perception

    Jun 24, 2026Emily Bejerano, Federico Tondolo, Devang Gupta +5Sim-to-Real TransferMillimeter-Wave Radar

    Columbia University New York, NY, USA · University of California, Merced Merced, CA, USA

  16. SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors

    Jun 22, 2026Pratyaksh Rao, Wancong Zhang, Randall Balestriero +2Latent Dynamics ModelingWorld Models

    University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA 94720, USA · New York University, New York, NY, USA · Brown University, Providence, RI, USA

  17. Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI

    Jun 22, 2026Xianda Guo, Bohao Zhang, Chenwei Huang +6Sim-to-Real TransferSynthetic Data Generation for Robotics

    School of Computer Science, Wuhan University · †Work was done during an internship at D-Robotics. · D-Robotics +2

  18. Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots

    Jun 21, 2026Chengnan Shentu, Nicholas Baldassini, Tongjia Zheng +2Contact-Rich Robotic ManipulationRobotics Simulation

    University of Toronto, Canada

  19. Zero-shot Transfer of Reinforcement Learning Control Policies for the Swing-Up and Stabilization of a Cart-Pole System

    Jun 20, 2026Nikki Xu, Hien TranRL ControlSim-to-Real Transfer

    Department of Mathematics, Box 8205, NC State University, Raleigh, NC 27695

  20. DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects

    Jun 20, 2026Yi Yang, Xiang Fei, Lehong Wang +5Robotics SimulationSim-to-Real Transfer

    The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213 USA. · School of Ocean and Civil Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. · Zhiyuan College, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. +2

  21. How Should a Simulation-to-Reality Transfer Budget Be Spent?

    Jun 20, 2026Syed Hamzah Rizvi, Yash Vardhan TomarRobot Dynamics IdentificationDomain Randomization

    Purdue University West Lafayette, USA

  22. TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer

    Jun 17, 2026Arunim Joarder, Arjun Bhardwaj, René Zurbrügg +6Cross-Modal Representation LearningTactile Sensing

    Robotic Systems Lab, ETH Zürich · ETH AI Center · NVIDIA +1

  23. Object-Centric Residual RL for Zero-Shot Sim-to-Real VLA Enhancement

    Jun 17, 2026Kinam Kim, Namiko Saito, Heecheol Kim +3Reinforcement LearningZero-Shot Robotic Manipulation

    KAIST, South Korea · Microsoft Research Asia - Tokyo, Japan · The University of Tokyo, Japan

  24. A Scalable Embodied Intelligence Platform for Seamless Real-to-Sim-to-Real Transfer of Household Mobile Manipulation Tasks

    Jun 17, 2026Kui Yang, Xianlei Long, Haoxuan Li +2Mobile ManipulationRobotics Simulation

    School of Computer Science, Chongqing University, No. 55 Daxuecheng South Road, Shapingba District, Chongqing, 401331, Chongqing, China. · R&D Department, Lumos Robotics Technology (Suzhou) Co., Ltd, No. 17 345 Baodai East Road, Wuzhong District, Suzhou, 215128, Jiangsu, China.

  25. GASE: Gaussian Splatting-Based Automated System for Reconstructing Embodied-Simulation Environments

    Jun 16, 2026Jiawei Zhang, Yiming Yan, Chao Liang +83D Gaussian Splatting3D Reconstruction

    AutoLab, SAI, Shanghai Jiao Tong University · AIM3 Lab, School of Information, Renmin University of China · Research Lab, Anyverse Dynamics

  26. RealityBridge: Bridging Editable 3D Gaussian Splatting Driving Simulations and Real-World Videos

    Jun 15, 2026Zhenhua Wu, Yun Pang, Mingkun Chang +43D Gaussian SplattingSim-to-Real Transfer

    1Sun Yat-sen University · 2Shanghai Innovation Institute · 3Shenzhen Loop Area Institute

  27. SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation

    Jun 13, 2026Wenkang Hu, Haoran Wang, Yitong Li +10Zero-Shot Robotic ManipulationRobot Skill Learning

    1Shanghai Jiao Tong University · 2Horizon Robotics · 3Style3D Research

  28. Mana: Dexterous Manipulation of Articulated Tools

    Jun 11, 2026Zhao-Heng Yin, Guanya Shi, Pieter Abbeel +1Robotic GraspingDexterous Manipulation

    UC Berkeley1 · Amazon FAR4 · CMU2 +1

  29. KinematicRL: A Sim-to-Real Reinforcement Learning Framework For Social Navigation With Kinodynamic Feasibility

    Jun 10, 2026Zhiming Xu, Haodong Yang, Chengju Liu +2Kinodynamic Motion PlanningSim-to-Real Transfer

    School of Computer Science and Technology, Tongji University, Shanghai 201804, China · Department of Electronics and Information Engineering, Tongji University, Shanghai 201804, China · Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 201210, China

  30. Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning

    Jun 10, 2026Shengcheng Luo, Xiyan Huang, Zhe Xu +3Robotic GraspingRepresentation Learning

    1ShanghaiTech University · 2Beijing Institute for General Artificial Intelligence