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. InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality

    Sep 21, 2026Zhenghua Ma, Xinpan Meng, Zeyu Liu +4RL for RoboticsContact-Rich Robotic Manipulation

    School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China, and the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · PaXini AI Technology (Beijing) Co., Ltd., Beijing 100080, China

  2. AquaOrbit: Sim-to-Real Reinforcement Learning for Underwater Target Orbiting under Intermittent Visual Feedback

    Sep 21, 2026Kanzhong Yao, Jinyi Leng, Hao Zhang +2RL ControlSim-to-Real Transfer

    Institute of Artificial Intelligence (TeleAI), China Telecom, China. · Harbin Engineering University, China. · Tongji University, China.

  3. FinsSim: A Reality-Aligned Integrated Simulation Platform for Underwater Robot Learning

    Sep 20, 2026Yu Zhang, Yuanmingqing Song, Xiangyun Rao +4Robotic ControlRobotics Simulation

    Department of Automation, Shanghai Jiao Tong University, Shanghai, China · School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China · Zhejiang University, Hangzhou, China

  4. PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

    Sep 20, 2026Xu Han, Angsong Li, Shaopeng Zhang +5Humanoid Robot LocomotionSim-to-Real Transfer

    Wuhan University · Agibot

  5. A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies

    Sep 18, 2026Mathilde Kappel, Clémence Grislain, Mohamed Chetouani +5Sim-to-Real TransferRobotic Manipulation

    Institute of Intelligent Systems and Robotics (ISIR), CNRS, Sorbonne University, Paris, F-75005, France

  6. NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry

    Sep 18, 2026Zhehan Li, Jiadong Lu, Shengwei Ren +2Inertial OdometryMulti-Robot Systems

    State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China. · Hangzhou Guixing Intelligent Technology Co., Ltd., Hangzhou, China.

  7. DEXTERA: From a Single Image to Deployable Dexterous Manipulation via Real-to-Sim-to-Real

    Sep 17, 2026Jin Wu, Lianjie Yuan, Zeyan Sun +4Sim-to-Real TransferSynthetic Data Generation for Robotics

    The University of Texas at Austin · University of Florida · BrainCo

  8. MILER: Semantic Mid-Level Representation for Sim-to-Real Reinforcement Learning in Unstructured Autonomous Driving

    Sep 17, 2026Thomas Steinecker, Denis Trescher, Alexander Bienemann +2End-to-End Autonomous DrivingSim-to-Real Transfer

    Chair of Machine Perception for Autonomous Driving, University of the Bundeswehr Munich, Germany

  9. Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation

    Sep 17, 2026Tao Sun, Beining Han, Patrick Yin +5RL for RoboticsRobotic Construction

    McGill University · Princeton University · University of Washington

  10. From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction

    Sep 16, 2026Zheng Li, Liang Zhu, Junzhe Wang +13Robot Policy LearningRobotic Data Collection

    The Hong Kong University of Science and Technology (Guangzhou). · The University of Hong Kong. · Tsinghua University.

  11. LCAP: Population-Informed Latent Chip Adaptation from Few Output Probes for Photonic Neural Networks

    Sep 15, 2026Tianyu Gao, Guantian ZhengSim-to-Real TransferPhotonic Computing

    City University of Hong Kong, Hong Kong SAR, China · Sichuan University, Chengdu, China · Nanyang Technological University, Singapore

  12. DreamSat-Bench: Development and Initial Testing of a Testbed for AI-Based Pose Estimation from 3D Reconstruction

    Sep 12, 2026Alex Posadas-Nava, August Berne, Giovanni Lavezzi +8Spacecraft Pose EstimationSpacecraft Rendezvous and Proximity Operations

    Massachusetts Institute of Technology · Politecnico di Milano · University of Illinois Urbana-Champaign +1

  13. Extending the Speed Limit of Quadrupedal Locomotion via Refined Actuator Modeling and Adaptive Command Scheduling

    Sep 9, 2026Yucheng Tao, Shaowen Cheng, Guorong Lan +3Quadruped LocomotionRobotics

    Center for X-Mechanics and Institute of Applied Mechanics, Zhejiang University, Hangzhou 310012, China · ZJU-Hangzhou Global Scientific and Technological Innovation Center, Hangzhou 311200, China · MirrorMe Robotics Co., Ltd., Hangzhou 311215, China

  14. RoboCousin: Build Your Own Simulation Playground for Robust Bimanual Robotic Manipulation

    Sep 8, 2026Jingxuan Zhu, Jingyi Li, LiangLiang Chen +3Bimanual Robotic ManipulationRobotics Simulation

    E-surfing Digital Life Technology Co., Ltd., China Telecom

  15. Dex-X: Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction

    Sep 7, 2026Ruoqu Chen, Feixiang Ruan, Liu Cao +9Sim-to-Real TransferRobotic Manipulation

    Tsinghua University · Shanghai Qizhi Institute · Sharpa +2

  16. Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

    Sep 7, 2026Yuhan Wang, Yurou Chen, Hongye Jiang +2RL for RoboticsCross-Modal Representation Learning

    Shanghai Jiao Tong University · University of Sussex

  17. Mind the Phase: Effective Rank and Representation Health in Legged Locomotion

    Sep 7, 2026Felipe Tommaselli, Thiago H. Segreto, Juliano D. Negri +2RL for Legged LocomotionRepresentation Learning for RL

    Mobile Robotics Group, University of S˜ao Paulo

  18. A Low-Cost, Open Platform for End-to-End Autonomous Driving on a Miniature Ackermann Vehicle

    Sep 3, 2026Gustavo Claudio Karl Couto, Eric Aislan Antonelo, Gabriel George ZippererEnd-to-End Autonomous DrivingSim-to-Real Transfer

    Department of Automation and Systems Engineering Federal University of Santa Catarina (UFSC) – Florianópolis – SC – Brazil

  19. One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry

    Sep 1, 2026Satvik Sharma, Samrat Sahoo, Huang Huang +4Contact-Rich Robotic ManipulationSim-to-Real Transfer

    Stanford University

  20. Provably Safe Sim-to-Real Transfer

    Sep 1, 2026Tingting Ni, Maryam KamgarpourReinforcement LearningSim-to-Real Transfer

    SYCAMORE, EPFL

  21. Sim2Signal: Sim-to-Real Benchmarks for Traffic Signal Control

    Sep 1, 2026Ferdous Al Rafi, Susrik Mukherjee, Latika Liladhar Dekate +6RL BenchmarksSim-to-Real Transfer

    Arizona State University

  22. Task-Relevant Feature-Dynamics Fidelity Enables Zero-Shot Sim-to-Real Transfer for Robotic Ultrasound Scanning

    Aug 30, 2026Yizhao Qian, Jiayuan Luo, Wanyi Zhu +4Sim-to-Real TransferRobotic Ultrasound

    Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China · School of Advanced Engineering, Great Bay University, and the Dongguan Great Bay Institute for Advanced Study, Dongguan, China · Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China +1

  23. Toward Trustworthy Robot-Assisted Sliding Palpation for Shallow Vessel Localisation with a Calibrated Digital Twin

    Aug 29, 2026Piotr Blaszyk, Wen Fan, Kaizhong Deng +2Sim-to-Real TransferDigital Twins

    Imperial College London, UK

  24. Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning

    Aug 28, 2026Nan Wang, Mohit Yadav, Jonathan Wulff +5Robotic Hand DesignRobotics Simulation

    Chestnut Robotics

  25. SimVerity: When Does Simulated Agent Success Survive Physical Deployment?

    Aug 25, 2026Zhonghao Zhan, Yefan Zhang, Krinos Li +1AI Agent EvaluationAI Agent Reliability

    Imperial College London · Independent Researcher

  26. Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning

    Aug 23, 2026Davide Bargellini, Alex Pasquali, Andrea Govoni +2Sim-to-Real TransferRobotic RL

    Department of Electrical, Electronic, and Information Engineering (DEI), University of Bologna, 40136 Bologna, Italy · Robotics and Mechatronics (RaM) group, University of Twente, Enschede, The Netherlands

  27. Betting for Sim-to-Real Performance Certificates

    Aug 21, 2026Yujia Chen, Bowen WengRobotic Policy EvaluationSim-to-Real Transfer

    Department of Computer Science, Iowa State University, Ames, IA 50011, USA

  28. SCAPE: Scenario-Conditioned Simulation-Augmented Policy Evaluation

    Aug 19, 2026Dijie Zhu, Seunghun Oh, Ruopeng Huang +3Robotic Policy EvaluationOff-Policy Evaluation

    University of California, Los Angeles · Seoul National University · University of Southern California +1

  29. ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning

    Aug 19, 2026Jayjun Lee, Jessica Yin, Asif Rana +7Robot LearningRobotic RL

    NVIDIA Corporation · Robotics Department, University of Michigan

  30. FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences

    Aug 17, 2026Omar Rayyan, Zhi Li, Max Argus +4Humanoid Loco-ManipulationSim-to-Real Transfer