Sim-to-Real & Simulators仿真与 Sim-to-Real

@misc{rudin2021learning,
  title = {{Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning}},
  author = {Nikita Rudin and David Hoeller and Philipp Reist and Marco Hutter},
  year = {2021},
  eprint = {2109.11978},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2109.11978},
}

@misc{hu2026perceptive,
  title = {{Perceptive Humanoid Motion from Simulation}},
  author = {Siyuan Hu and Abulikemu Abuduweili and Yue Meng and Shipeng Liu and Quentin Leboutet and Chen Chen and Matthias Müller and Vladlen Koltun},
  year = {2026},
  eprint = {2611.06908},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.06908},
}

@misc{zhou2026when,
  title = {{When the Simulator Fails, Not the Policy: Auditing Contact Artifacts in Simulated Robot Benchmarks}},
  author = {Alex Zhou and Junhao Wu and Xueyang Zhou and Yixiao Huo and Hongcheng Gao and Di Zhu and Zhenghao Zhang and Yongchao Chen},
  year = {2026},
  eprint = {2610.41857},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.41857},
}

@misc{nvidia2026interactive,
  title = {{Interactive World Simulation with Cosmos for Physical AI}},
  author = {NVIDIA and : and Anis Ahmad and Jon Allen and Malik Aqeel Anwar and Jesse Archer and Maciej Bala and Piotr Barejko and Aarti Basant and Dan Blick and Taras Bolzhelarskyi and Henry Che and Jin Chen and Yukang Chen and Tae Eun Choe and Yuzhu Dong and Nat Duca and Liang Feng and Francesco Ferroni and Xiao Fu and Mohit Gambhir and Vivek Goel and Rony Goldenthal and Aryaman Gupta and Ali Hassani and Nathan Hayes-Roth and Yong He and Michael Honke and Shengyu Huang and Wei Huang and DeLesley Hutchins and Suneel Indupuru and Pooya Jannaty and Jingyi Jin and Janmesh Kalra and Ashna Khetan and Xin Kong and Aleksandr Korovko and Hui Kuang and Zhengfei Kuang and George Kurian and Jean-Francois Lafleche and Jayjun Lee and Justin Leung and William Lew and Xiang Li and Zhaoshuo Li and Chen-Hsuan Lin and Ming-Yu Liu and Xiangyu Lu and others},
  year = {2026},
  eprint = {2611.06627},
  archivePrefix = {arXiv},
  primaryClass = {cs.AI},
  url = {https://arxiv.org/abs/2611.06627},
}

@misc{yin2026genie,
  title = {{Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot}},
  author = {Chenghao Yin and Da Huang and Di Yang and Jichao Wang and Nanshu Zhao and Chen Xu and Wenjun Sun and Linjie Hou and Zhijun Li and Junhui Wu and Zhaobo Liu and Zhen Xiao and Sheng Zhang and Lei Bao and Rui Feng and Zhenquan Pang and Jiayu Li and Qian Wang and Maoqing Yao},
  year = {2026},
  eprint = {2601.02078},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2601.02078},
}

@misc{nvidia2025world,
  title = {{World Simulation with Video Foundation Models for Physical AI}},
  author = {NVIDIA and : and Arslan Ali and Junjie Bai and Maciej Bala and Yogesh Balaji and Aaron Blakeman and Tiffany Cai and Jiaxin Cao and Tianshi Cao and Elizabeth Cha and Yu-Wei Chao and Prithvijit Chattopadhyay and Mike Chen and Yongxin Chen and Yu Chen and Shuai Cheng and Yin Cui and Jenna Diamond and Yifan Ding and Jiaojiao Fan and Linxi Fan and Liang Feng and Francesco Ferroni and Sanja Fidler and Xiao Fu and Ruiyuan Gao and Yunhao Ge and Jinwei Gu and Aryaman Gupta and Siddharth Gururani and Imad El Hanafi and Ali Hassani and Zekun Hao and Jacob Huffman and Joel Jang and Pooya Jannaty and Jan Kautz and Grace Lam and Xuan Li and Zhaoshuo Li and Maosheng Liao and Chen-Hsuan Lin and Tsung-Yi Lin and Yen-Chen Lin and Huan Ling and Ming-Yu Liu and Xian Liu and Yifan Lu and Alice Luo and others},
  year = {2025},
  eprint = {2511.00062},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2511.00062},
}

@misc{zakka2025mujoco,
  title = {{MuJoCo Playground}},
  author = {Kevin Zakka and Baruch Tabanpour and Qiayuan Liao and Mustafa Haiderbhai and Samuel Holt and Jing Yuan Luo and Arthur Allshire and Erik Frey and Koushil Sreenath and Lueder A. Kahrs and Carmelo Sferrazza and Yuval Tassa and Pieter Abbeel},
  year = {2025},
  eprint = {2502.08844},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2502.08844},
}

@misc{chen2025robotwin,
  title = {{RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation}},
  author = {Tianxing Chen and Zanxin Chen and Baijun Chen and Zijian Cai and Yibin Liu and Zixuan Li and Qiwei Liang and Xianliang Lin and Yiheng Ge and Zhenyu Gu and Weiliang Deng and Yubin Guo and Tian Nian and Xuanbing Xie and Qiangyu Chen and Kailun Su and Tianling Xu and Guodong Liu and Mengkang Hu and Huan-ang Gao and Kaixuan Wang and Zhixuan Liang and Yusen Qin and Xiaokang Yang and Ping Luo and Yao Mu},
  year = {2025},
  eprint = {2506.18088},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2506.18088},
}

@misc{nvidia2025isaac,
  title = {{Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning}},
  author = {NVIDIA and : and Mayank Mittal and Pascal Roth and James Tigue and Antoine Richard and Octi Zhang and Peter Du and Antonio Serrano-Muñoz and Xinjie Yao and René Zurbrügg and Nikita Rudin and Lukasz Wawrzyniak and Milad Rakhsha and Alain Denzler and Eric Heiden and Ales Borovicka and Ossama Ahmed and Iretiayo Akinola and Abrar Anwar and Mark T. Carlson and Ji Yuan Feng and Animesh Garg and Renato Gasoto and Lionel Gulich and Yijie Guo and M. Gussert and Alex Hansen and Mihir Kulkarni and Chenran Li and Wei Liu and Viktor Makoviychuk and Grzegorz Malczyk and Hammad Mazhar and Masoud Moghani and Adithyavairavan Murali and Michael Noseworthy and Alexander Poddubny and Nathan Ratliff and Welf Rehberg and Clemens Schwarke and Ritvik Singh and James Latham Smith and Bingjie Tang and Ruchik Thaker and Matthew Trepte and Karl Van Wyk and Fangzhou Yu and Alex Millane and Vikram Ramasamy and others},
  year = {2025},
  eprint = {2511.04831},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2511.04831},
}

@misc{geng2025roboverse,
  title = {{RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning}},
  author = {Haoran Geng and Feishi Wang and Songlin Wei and Yuyang Li and Bangjun Wang and Boshi An and Charlie Tianyue Cheng and Haozhe Lou and Peihao Li and Yen-Jen Wang and Yutong Liang and Dylan Goetting and Chaoyi Xu and Haozhe Chen and Yuxi Qian and Yiran Geng and Jiageng Mao and Weikang Wan and Mingtong Zhang and Jiangran Lyu and Siheng Zhao and Jiazhao Zhang and Jialiang Zhang and Chengyang Zhao and Haoran Lu and Yufei Ding and Ran Gong and Yuran Wang and Yuxuan Kuang and Ruihai Wu and Baoxiong Jia and Carlo Sferrazza and Hao Dong and Siyuan Huang and Yue Wang and Jitendra Malik and Pieter Abbeel},
  year = {2025},
  eprint = {2504.18904},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2504.18904},
}

@misc{tao2024maniskill,
  title = {{ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI}},
  author = {Stone Tao and Fanbo Xiang and Arth Shukla and Yuzhe Qin and Xander Hinrichsen and Xiaodi Yuan and Chen Bao and Xinsong Lin and Yulin Liu and Tse-kai Chan and Yuan Gao and Xuanlin Li and Tongzhou Mu and Nan Xiao and Arnav Gurha and Viswesh Nagaswamy Rajesh and Yong Woo Choi and Yen-Ru Chen and Zhiao Huang and Roberto Calandra and Rui Chen and Shan Luo and Hao Su},
  year = {2024},
  eprint = {2410.00425},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2410.00425},
}

@misc{nasiriany2024robocasa,
  title = {{RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots}},
  author = {Soroush Nasiriany and Abhiram Maddukuri and Lance Zhang and Adeet Parikh and Aaron Lo and Abhishek Joshi and Ajay Mandlekar and Yuke Zhu},
  year = {2024},
  eprint = {2406.02523},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2406.02523},
}

@misc{gu2024humanoid,
  title = {{Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer}},
  author = {Xinyang Gu and Yen-Jen Wang and Jianyu Chen},
  year = {2024},
  eprint = {2404.05695},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2404.05695},
}

@misc{wang2024grutopia,
  title = {{GRUtopia: Dream General Robots in a City at Scale}},
  author = {Hanqing Wang and Jiahe Chen and Wensi Huang and Qingwei Ben and Tai Wang and Boyu Mi and Tao Huang and Siheng Zhao and Yilun Chen and Sizhe Yang and Peizhou Cao and Wenye Yu and Zichao Ye and Jialun Li and Junfeng Long and Zirui Wang and Huiling Wang and Ying Zhao and Zhongying Tu and Yu Qiao and Dahua Lin and Jiangmiao Pang},
  year = {2024},
  eprint = {2407.10943},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2407.10943},
}

@misc{mittal2023orbit,
  title = {{Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments}},
  author = {Mayank Mittal and Calvin Yu and Qinxi Yu and Jingzhou Liu and Nikita Rudin and David Hoeller and Jia Lin Yuan and Ritvik Singh and Yunrong Guo and Hammad Mazhar and Ajay Mandlekar and Buck Babich and Gavriel State and Marco Hutter and Animesh Garg},
  year = {2023},
  eprint = {2301.04195},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2301.04195},
}

@misc{puig2023habitat,
  title = {{Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots}},
  author = {Xavier Puig and Eric Undersander and Andrew Szot and Mikael Dallaire Cote and Tsung-Yen Yang and Ruslan Partsey and Ruta Desai and Alexander William Clegg and Michal Hlavac and So Yeon Min and Vladimír Vondruš and Theophile Gervet and Vincent-Pierre Berges and John M. Turner and Oleksandr Maksymets and Zsolt Kira and Mrinal Kalakrishnan and Jitendra Malik and Devendra Singh Chaplot and Unnat Jain and Dhruv Batra and Akshara Rai and Roozbeh Mottaghi},
  year = {2023},
  eprint = {2310.13724},
  archivePrefix = {arXiv},
  primaryClass = {cs.HC},
  url = {https://arxiv.org/abs/2310.13724},
}

@misc{gu2023maniskill,
  title = {{ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills}},
  author = {Jiayuan Gu and Fanbo Xiang and Xuanlin Li and Zhan Ling and Xiqiang Liu and Tongzhou Mu and Yihe Tang and Stone Tao and Xinyue Wei and Yunchao Yao and Xiaodi Yuan and Pengwei Xie and Zhiao Huang and Rui Chen and Hao Su},
  year = {2023},
  eprint = {2302.04659},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2302.04659},
}

@misc{li2024behavior,
  title = {{BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation}},
  author = {Chengshu Li and Ruohan Zhang and Josiah Wong and Cem Gokmen and Sanjana Srivastava and Roberto Martín-Martín and Chen Wang and Gabrael Levine and Wensi Ai and Benjamin Martinez and Hang Yin and Michael Lingelbach and Minjune Hwang and Ayano Hiranaka and Sujay Garlanka and Arman Aydin and Sharon Lee and Jiankai Sun and Mona Anvari and Manasi Sharma and Dhruva Bansal and Samuel Hunter and Kyu-Young Kim and Alan Lou and Caleb R Matthews and Ivan Villa-Renteria and Jerry Huayang Tang and Claire Tang and Fei Xia and Yunzhu Li and Silvio Savarese and Hyowon Gweon and C. Karen Liu and Jiajun Wu and Li Fei-Fei},
  year = {2024},
  eprint = {2403.09227},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.09227},
}

@misc{freeman2021brax,
  title = {{Brax: A Differentiable Physics Engine for Large Scale Rigid Body Simulation}},
  author = {C. Daniel Freeman and Erik Frey and Anton Raichuk and Sertan Girgin and Igor Mordatch and Olivier Bachem},
  year = {2021},
  eprint = {2106.13281},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2106.13281},
}

@misc{zhu2020robosuite,
  title = {{robosuite: A Modular Simulation Framework and Benchmark for Robot Learning}},
  author = {Yuke Zhu and Josiah Wong and Ajay Mandlekar and Roberto Martín-Martín and Abhishek Joshi and Kevin Lin and Abhiram Maddukuri and Soroush Nasiriany and Yifeng Zhu},
  year = {2020},
  eprint = {2009.12293},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2009.12293},
}

@misc{tassa2020dm,
  title = {{dm_control: Software and Tasks for Continuous Control}},
  author = {Yuval Tassa and Saran Tunyasuvunakool and Alistair Muldal and Yotam Doron and Piotr Trochim and Siqi Liu and Steven Bohez and Josh Merel and Tom Erez and Timothy Lillicrap and Nicolas Heess},
  year = {2020},
  eprint = {2006.12983},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2006.12983},
}

@misc{savva2019habitat,
  title = {{Habitat: A Platform for Embodied AI Research}},
  author = {Manolis Savva and Abhishek Kadian and Oleksandr Maksymets and Yili Zhao and Erik Wijmans and Bhavana Jain and Julian Straub and Jia Liu and Vladlen Koltun and Jitendra Malik and Devi Parikh and Dhruv Batra},
  year = {2019},
  eprint = {1904.01201},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/1904.01201},
}

@misc{kolve2017ai,
  title = {{AI2-THOR: An Interactive 3D Environment for Visual AI}},
  author = {Eric Kolve and Roozbeh Mottaghi and Winson Han and Eli VanderBilt and Luca Weihs and Alvaro Herrasti and Matt Deitke and Kiana Ehsani and Daniel Gordon and Yuke Zhu and Aniruddha Kembhavi and Abhinav Gupta and Ali Farhadi},
  year = {2017},
  eprint = {1712.05474},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/1712.05474},
}

@misc{bronars2026blind,
  title = {{Blind Precise Assembly: Proprioceptive Sim-to-Real Peg-in-Hole for Diverse Parts}},
  author = {Antonia Bronars and Younghyo Park and Kushal Kedia and Pulkit Agrawal},
  year = {2026},
  eprint = {2610.23849},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.23849},
}

@misc{chuang2026dexterous,
  title = {{Dexterous In-Hand Object Pose Reaching with Learned Safety Filters}},
  author = {Ian Chuang and Hiya Shah and Vamsi Chilamkur and Iman Soltani and Claire Tomlin},
  year = {2026},
  eprint = {2610.37652},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.37652},
}

@misc{yang2026beyondcontact,
  title = {{BeyondContact: A Reinforcement Learning Framework for Airflow-Based Non-Contact Manipulation}},
  author = {Peiyu Yang and Mohamad S. Moudallal and Antonio Langella and Giulio Turrisi and Victor Barasuol and Claudio Semini},
  year = {2026},
  eprint = {2611.03059},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.03059},
}

@misc{li2026robustness,
  title = {{Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation}},
  author = {Wei-Chen Li and Jeffrey Fang and Sasanka Polisetti and Yuexi Song and Glen Chou},
  year = {2026},
  eprint = {2606.14188},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2606.14188},
}

@misc{liu2026enabling,
  title = {{Enabling Robust Cloth Manipulation via Inference-Time Simulator-in-the-Loop Refinement}},
  author = {Xin Liu and Yulin Li and Ziming Li and Pengyu Jing and Zhenhao Huang and Bingyang Zhou and Ziqiu Zeng and Siyuan Luo and Chenkun Qi and Fan Shi},
  year = {2026},
  eprint = {2606.24552},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2606.24552},
}

@misc{zhang2026revosim,
  title = {{RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation}},
  author = {Ke Zhang and Lixin Xu and Ziyi Wang and Xiyue Dong and Jie Tan and Lianghu Shao and Xianpeng Wang and Chuanyu Li and Renjing Xu},
  year = {2026},
  eprint = {2611.08939},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.08939},
}

@misc{yang2026zero,
  title = {{Zero-HLM: Generalizable Humanoid Loco-Manipulation without Real Robot Data}},
  author = {Dianyi Yang and Mengya Liu and Zhumei Wang and Yu Liu and Xiaochen Zhang and Yixuan Li and Le Ma and Yuhang Yang and Weiqi Huang and Wei Liang and Baoxiong Jia and Siyuan Huang},
  year = {2026},
  eprint = {2610.35075},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.35075},
}

@misc{wang2026counterfactual,
  title = {{Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation}},
  author = {Zihan Wang and Zhen Wu and Pieter Abbeel and Rocky Duan and Jitendra Malik and Carmelo Sferrazza and C. Karen Liu and Guanya Shi and Angjoo Kanazawa},
  year = {2026},
  eprint = {2609.38172},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2609.38172},
}

@misc{davies2026primesim,
  title = {{PrimeSim: A Generalist World Model Simulator from Large-Scale Cross-Embodiment Demonstrations}},
  author = {Travis Davies and Wentao Ma and Lihao Guo and Tengfei Ma and Xiaowen Chang and Jiafeng Xu and Shilong Wang and Yiqi Deng and Shaowen He and Xiaoqi Li and Qian Zhu and Ran Cheng and Hao Dong},
  year = {2026},
  eprint = {2611.04870},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.04870},
}

@misc{qiu2026ge,
  title = {{GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation}},
  author = {Boxiang Qiu and Liliang Chen and Yue Liao and Nan Wang and Lintao Wang and Jiayi Luo and Wenzhi Zhao and Shengcong Chen and Di Chen and Ye Li and Chen Gao and Shuicheng Yan and Si Liu and Maoqing Yao and Guanghui Ren},
  year = {2026},
  eprint = {2605.27491},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2605.27491},
}

@misc{lee2026odorspaces,
  title = {{OdorSpaces: Visual-Olfactory Embodied Navigation in 3D Environments}},
  author = {Changyeon Lee and Kelin Yu and Zheng Wei and Shuna Ni and Ruohan Gao},
  year = {2026},
  eprint = {2611.05738},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.05738},
}

@misc{seong2025costnav,
  title = {{CostNav: A Navigation Benchmark for Real-World Economic-Cost Evaluation of Physical AI Agents}},
  author = {Haebin Seong and Sungmin Kim and Yongjun Cho and Myunchul Joe and Geunwoo Kim and Yubeen Park and Sunhoo Kim and Samwoo Seong and Yoonshik Kim and Suhwan Choi and Jaeyoon Jung and Jiyong Youn and Jinmyung Kwak and Sunghee Ahn and Jaemin Lee and Younggil Do and Seungyeop Yi and Woojin Cheong and Minhyeok Oh and Minchan Kim and Seongjae Kang and Youngjae Yu and Yunsung Lee},
  year = {2025},
  eprint = {2511.20216},
  archivePrefix = {arXiv},
  primaryClass = {cs.AI},
  url = {https://arxiv.org/abs/2511.20216},
}

@misc{zhang2026balanced,
  title = {{A Balanced Data Diet: Addressing the Exploration Bottleneck in Mega-Scale RL for Robot Control}},
  author = {Octi Zhang and Mateo Guaman Castro and Patrick Yin and Ignacio Dagnino and Abhishek Gupta and Rosario Scalise and Byron Boots},
  year = {2026},
  eprint = {2610.12465},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.12465},
}

@misc{ma2026active,
  title = {{Active Generative Simulation: Meta-Learning What to Simulate for Sim-and-Real Policy Co-Training}},
  author = {Liqian Ma and Vaibhav Saxena and Utkarsh Aashu Mishra and Shuo Cheng and Yongxin Chen and Danfei Xu},
  year = {2026},
  eprint = {2610.19479},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.19479},
}

@misc{eschmann2026hyperdrone,
  title = {{HyperDrone: Simulation-to-Reality Transfer at Millions of Frames per Second}},
  author = {Jonas Eschmann and Giuseppe Loianno},
  year = {2026},
  eprint = {2610.28950},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.28950},
}

@misc{liu2026scenebloom,
  title = {{SceneBloom: Agentic Indoor Environment Generation with Realistic and Diverse Layouts for Embodied Learning}},
  author = {Yuhan Liu and Lianhui Qin and Shenji Wan},
  year = {2026},
  eprint = {2610.32978},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2610.32978},
}

@misc{castillaarquillo2026mare,
  title = {{MARE: An Open-Source Lunar Rover Simulator with Shadow Ground Truth for Perception and Autonomy}},
  author = {Raúl Castilla-Arquillo and Miguel Olivares-Mendez},
  year = {2026},
  eprint = {2610.28465},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.28465},
}

@misc{houssaini2026dexsuite,
  title = {{DexSuite: An All-in-One Framework for Dexterous Manipulation Across Arms, Hands, and Tasks}},
  author = {Anas Houssaini and Hugo He and Junming Shi and Amin Abyaneh and Ricardo Chahine and Shuo Wen and Mohamad H. Danesh and Charles-Étienne Fréchette and Mariana Sosa Guzman and Mathias Desrochers and Rayan Houssaini and Adam Landa and Theophile Soulie and Charlotte Morissette and Annie Tims and Martino Russi and Jonathan Lussier and Gregory Dudek and Doina Precup and Julen Urain and Hsiu-Chin Lin and David Meger},
  year = {2026},
  eprint = {2610.37799},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.37799},
}

@misc{aggarwal2026gym,
  title = {{Gym-Anything for Robotics: Scaling physical simulations with digital agents}},
  author = {Pranjal Aggarwal and Sean Welleck},
  year = {2026},
  eprint = {2610.40565},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.40565},
}

@misc{deshpande2026molmob,
  title = {{MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation}},
  author = {Abhay Deshpande and Maya Guru and Rose Hendrix and Snehal Jauhri and Ainaz Eftekhar and Rohun Tripathi and Max Argus and Jordi Salvador and Haoquan Fang and Matthew Wallingford and Wilbert Pumacay and Yejin Kim and Quinn Pfeifer and Ying-Chun Lee and Piper Wolters and Omar Rayyan and Mingtong Zhang and Jiafei Duan and Karen Farley and Winson Han and Eli Vanderbilt and Dieter Fox and Ali Farhadi and Georgia Chalvatzaki and Dhruv Shah and Ranjay Krishna},
  year = {2026},
  eprint = {2603.16861},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2603.16861},
}

@misc{tsounis2026kamino,
  title = {{Kamino: GPU-based Simulation of Rigid Multi-Body Physics with Kinematic Loops}},
  author = {Vassilios Tsounis and Guirec Maloisel and Christian Schumacher and Ruben Grandia and Agon Serifi and David Müller and Chris Amevor and Tobias Widmer and Moritz Bächer},
  year = {2026},
  eprint = {2603.16536},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2603.16536},
}

@misc{yu2026aura,
  title = {{AuRA: From Atoms to Bits through Autonomous Robot Interaction}},
  author = {Xinchen Yu and Yoonkyo Jung and Haoran Chen and Zikui Cai and Aayush Talreja and Seungjae Lee and Hyunjin Kim and Furong Huang},
  year = {2026},
  eprint = {2610.34452},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.34452},
}

@misc{zhang2026closing,
  title = {{Closing the Dynamics Gap through Self-Directed Robotic Interaction}},
  author = {Xilun Zhang and Liam Achenbach and Luis Pabon and Matthew Foutter and Marco Pavone},
  year = {2026},
  eprint = {2611.02691},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.02691},
}

@misc{patel2026learning,
  title = {{Learning Physics-Guided Residual Dynamics for Deformable Object Simulation}},
  author = {Shivansh Patel and Kaifeng Zhang and Sanjay Pokkali and Svetlana Lazebnik and Yunzhu Li},
  year = {2026},
  eprint = {2607.13451},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2607.13451},
}

@misc{yu2026coda,
  title = {{CoDA: Co-Evolution of Data Engines and Action Policies}},
  author = {Tianjiao Yu and Zhilin Ou and Yifan Shen and Xinzhuo Li and Yuanzhe Liu and Onkar Kishor Susladkar and Fan Wang and Ismini Lourentzou},
  year = {2026},
  eprint = {2610.22362},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.22362},
}

@misc{choi2026scaling,
  title = {{Scaling Sim-to-Real VLA Reinforcement Learning with Generative 3D Worlds}},
  author = {Andrew Choi and Xinjie Wang and Zhizhong Su and Wei Xu},
  year = {2026},
  eprint = {2603.18532},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2603.18532},
}

@misc{guo2026worlds,
  title = {{Worlds in One Demo: A Synthetic Data Engine for Learning Open-World Mobile Manipulation}},
  author = {Lingxiao Guo and Huanyu Li and Guanya Shi},
  year = {2026},
  eprint = {2607.13154},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2607.13154},
}

@misc{tao2026silo,
  title = {{SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing}},
  author = {Stone Tao and Jie Xu and Hesam Rabeti and Yashraj Narang and Yijie Guo and Iretiayo Akinola},
  year = {2026},
  eprint = {2607.04616},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2607.04616},
}

@misc{schneider2026sim,
  title = {{Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks}},
  author = {Jan Schneider and Mridul Mahajan and Le Chen and Simon Guist and Bernhard Schölkopf and Ingmar Posner and Dieter Büchler},
  year = {2026},
  eprint = {2604.09487},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2604.09487},
}

@misc{zhang2026robosnap,
  title = {{RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation}},
  author = {Shujie Zhang and Jingkun Yi and Weipeng Zhong and Zirui Zhou and Yangkun Zhu and Hanqing Wang and Xudong Xu and Weinan Zhang and Chunhua Shen},
  year = {2026},
  eprint = {2607.06699},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2607.06699},
}

@misc{qin2026comsim,
  title = {{ComSim: Building Scalable Real-World Robot Data Generation via Compositional Simulation}},
  author = {Yiran Qin and Jiahua Ma and Li Kang and Wenzhan Li and Yihang Jiao and Xin Wen and Xiufeng Song and Heng Zhou and Jiwen Yu and Zhenfei Yin and Xihui Liu and Philip Torr and Yilun Du and Ruimao Zhang},
  year = {2026},
  eprint = {2604.11386},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2604.11386},
}

@misc{jia2026unilab,
  title = {{UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms}},
  author = {Yufei Jia and Zhanxiang Cao and Mingrui Yu and Heng Zhang and Shenyu Chen and Dixuan Jiang and Meng Li and Xiaofan Li and Yiyang Liu and Junzhe Wu and Zheng Li and XiLin Fang and Ting-Yu Tsui and Shengcheng Fu and Haoyang Li and Anqi Wang and Zifan Wang and Dongjie Zhu and Chenyu Cao and Zhenbiao Huang and Ziang Zheng and Jie Lu and Xin Ma and Zhengyang Wei and Xiang Zhao and Tianyue Zhan and Ye He and Yuxiang Chen and Yizhou Jiang and Yue Li and Haizhou Ge and Yuhang Dong and Fan Jia and Ziheng Zhang and Meng Zhang and Xiwa Deng and Zhixing Chen and Hanyang Shao and Chenxin Dong and Yixuan Li and Yizhi Chen and Bokui Chen and Kaifeng Zhang and Hanqing Cui and Yusen Qin and Ruqi Huang and Lei Han and Tiancai Wang and Xiang Li and Yue Gao and others},
  year = {2026},
  eprint = {2605.30313},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2605.30313},
}

@misc{ranawaka2026simfoundry,
  title = {{SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation}},
  author = {Nadun Ranawaka and Josiah Wong and Wei-Lin Pai and Wei-Teng Chu and Tianyuan Dai and Masoud Moghani and Hang Yin and Yunfan Jiang and Wesley Durbano and Brandon Huynh and Yu Fang and Danfei Xu and Ruohan Zhang and Li Fei-Fei and Linxi Fan and Bowen Wen and Ajay Mandlekar and Yuke Zhu},
  year = {2026},
  eprint = {2606.28276},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2606.28276},
}

@misc{shentu2026do,
  title = {{Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots}},
  author = {Chengnan Shentu and Nicholas Baldassini and Tongjia Zheng and Priyanka Rao and Jessica Burgner-Kahrs},
  year = {2026},
  eprint = {2606.22397},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2606.22397},
}

@misc{wang2026am,
  title = {{AM-Bench: A Modular Simulation Suite and Benchmark for Aerial Manipulation Policy Learning}},
  author = {Yutong Wang and Dongjae Lee and Xiaofeng Guo and Yuanzhu Zhan and Yufei Jiang and Bavin Saravanan and Muqing Cao and Jia Xie and Chenyang Mao and Sebastian Scherer and Junyi Geng and Guanya Shi},
  year = {2026},
  eprint = {2609.00641},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2609.00641},
}

@misc{wei2026simple,
  title = {{SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation}},
  author = {Songlin Wei and Zhenhao Ni and Jie Liu and Zhenyu Zhao and Junjie Ye and Hongyi Jing and Junkai Xia and Xiawei Liu and Michael Leong and Liang Heng and Di Huang and Yue Wang},
  year = {2026},
  eprint = {2606.08278},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2606.08278},
}

@misc{jungerman2026visionsim,
  title = {{VisionSIM: Beyond Idealized Sensors - A Multi-Modal Simulator for Robot Perception}},
  author = {Sacha Jungerman and Kaustubh Sadekar and Avery Gump and Sriram Narayanan and Shantanu Gupta and Bhuyashi Deka and Srinivasa Narasimhan and Atul Ingle and Mohit Gupta},
  year = {2026},
  eprint = {2611.08368},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.08368},
}

@misc{xu2026gif,
  title = {{GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning}},
  author = {Long Xu and Zhiqi Zhang and Mi Yan and Shengliang Deng and Chong Xia and Mingyu Dong and Jiayi Chen and Jiangran Lyu and Fei Gao and Zhizheng Zhang and He Wang},
  year = {2026},
  eprint = {2609.05927},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2609.05927},
}

@misc{beker2026lodos,
  title = {{Lodos: A Lightweight Simulator Designed for Contact-Rich Interactions with Detailed Meshes}},
  author = {Onur Beker and Andreas René Geist and Georg Martius},
  year = {2026},
  eprint = {2611.08872},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.08872},
}

@misc{wang2026robocasa,
  title = {{RoboCasa-Shift: Stage-Aware Robustness Evaluation of Vision-Language-Action Policies in Long-Horizon Household Manipulation}},
  author = {Haocheng Wang and Youquan Liu and Weiyu Guo and Aokai Zhang and Donghang Wu and Hongyu Liu and Sha Zhang and Weidong Yang and Ben Fei},
  year = {2026},
  eprint = {2610.27861},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.27861},
}

@misc{luo2026handson,
  title = {{HandsOn: A Large-Scale Simulation Benchmark for Generalizable Dexterous Manipulation}},
  author = {Tianwei Luo and Yiming He and Hongjin Wu and Ting Pan and Debin Ren and Haorui Guo and Junlin Yang and Yuxin Zuo and Zhehao Kou and Kaisen Yang and Zhuoqun Lai and Yi Ding and Jiale Yu and Yuchen Zhang and Zijie Qiu and Haozhan Li and Ning Ding},
  year = {2026},
  eprint = {2610.26765},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.26765},
}

@misc{wang2026astrobench,
  title = {{AstroBench: Benchmarking Free-Floating Capture and Space Robotic Manipulation}},
  author = {Zizhe Wang and Jia Deng and Xin Lu and Zehao Jia and Yi Huang and Yao Zhu},
  year = {2026},
  eprint = {2610.31064},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.31064},
}

@misc{chen2026behavior,
  title = {{Behavior Spatial Benchmark: Evaluating Spatial Understanding for Robotics}},
  author = {Sirui Chen and Huang Huang and Qineng Wang and Wenlong Huang and Manling Li and Ruohan Zhang and Li Fei-Fei and Jiajun Wu},
  year = {2026},
  eprint = {2610.34051},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.34051},
}

@misc{gao2026embodiedlab,
  title = {{EmbodiedLab: Benchmarking Embodied Agents That Act to Know}},
  author = {Hongcheng Gao and Zelin Zheng and Alex Zhou and Jay Zhu and Shijia Ge and Yazhe Wang and Xiping Li and Jianshu Zeng and Di Wu and Xuan Shangguan and Yexing Wan and Lingyu He and Yongli Wang and Xiaohan Yu and Zhiqi Jia and Yue Liu and Bryan Hooi and Yinpeng Dong and Wentao Zhang and Sihang Wu and Xiao He},
  year = {2026},
  eprint = {2610.35385},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.35385},
}

@misc{hickok2026so,
  title = {{SO-101 Bench: Accessible Spatial Manipulation}},
  author = {Truman Hickok},
  year = {2026},
  eprint = {2610.36420},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2610.36420},
}

@misc{huang2026clothdojo,
  title = {{ClothDojo: Learned Data Generation and Benchmarking for Bimanual Garment Flattening and Folding}},
  author = {Zilong Huang and Zipeng Ye and Caicheng Wang and Yuchen Xie and Jiaxiang Luo},
  year = {2026},
  eprint = {2611.01190},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.01190},
}

@misc{zhang2026pyrua,
  title = {{PyRUA-DataFarm: LLM Agent as a Cost-Efficient Teleoperator for Real-Ready Robot Data}},
  author = {Kewei Zhang and Juncheng Ma and Guodong Lv and Duomin Wang and Feixiang Ruan and Ruiyang Si and Chuanrui Zhang and Yuxuan Chen and Hao Chen and Yichen Liu and Yintianrun Zhang and Yufan Deng and Enze Xie and Daquan Zhou},
  year = {2026},
  eprint = {2611.05320},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2611.05320},
}

@misc{chen2026foldnet,
  title = {{FoldNet++: a Large-Scale Synthetic Dataset for Robotic T-Shirt Folding and Unfolding}},
  author = {Yuxing Chen and Zhiyuan Wei and Bowen Xiao and Zhizheng Zhang and He Wang},
  year = {2026},
  eprint = {2609.12433},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2609.12433},
}

@misc{deng2025graspvla,
  title = {{GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data}},
  author = {Shengliang Deng and Mi Yan and Songlin Wei and Haixin Ma and Yuxin Yang and Jiayi Chen and Zhiqi Zhang and Taoyu Yang and Xuheng Zhang and Wenhao Zhang and Heming Cui and Zhizheng Zhang and He Wang},
  year = {2025},
  eprint = {2505.03233},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2505.03233},
}

@misc{hu2025slac,
  title = {{SLAC: Safe and Efficient Real-Robot Reinforcement Learning via Unsupervised Simulation Pre-Training}},
  author = {Jiaheng Hu and Peter Stone and Roberto Martín-Martín},
  year = {2025},
  eprint = {2506.04147},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2506.04147},
}

@misc{liao2025genie,
  title = {{Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation}},
  author = {Yue Liao and Pengfei Zhou and Siyuan Huang and Donglin Yang and Shengcong Chen and Yuxin Jiang and Yue Hu and Jingbin Cai and Si Liu and Jianlan Luo and Liliang Chen and Shuicheng Yan and Maoqing Yao and Guanghui Ren},
  year = {2025},
  eprint = {2508.05635},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2508.05635},
}

@misc{gao2025genmanip,
  title = {{GenManip: LLM-driven Simulation for Generalizable Instruction-Following Manipulation}},
  author = {Ning Gao and Yilun Chen and Shuai Yang and Xinyi Chen and Yang Tian and Hao Li and Haifeng Huang and Hanqing Wang and Tai Wang and Jiangmiao Pang},
  year = {2025},
  eprint = {2506.10966},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2506.10966},
}

@misc{li2025taccel,
  title = {{Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation}},
  author = {Yuyang Li and Wenxin Du and Chang Yu and Puhao Li and Zihang Zhao and Tengyu Liu and Chenfanfu Jiang and Yixin Zhu and Siyuan Huang},
  year = {2025},
  eprint = {2504.12908},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2504.12908},
}

@misc{escontrela2025gaussgym,
  title = {{GaussGym: An open-source real-to-sim framework for learning locomotion from pixels}},
  author = {Alejandro Escontrela and Justin Kerr and Arthur Allshire and Jonas Frey and Rocky Duan and Carmelo Sferrazza and Pieter Abbeel},
  year = {2025},
  eprint = {2510.15352},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2510.15352},
}

@misc{joshi2025procedural,
  title = {{Procedural Generation of Articulated Simulation-Ready Assets}},
  author = {Abhishek Joshi and Beining Han and Jack Nugent and Max Gonzalez Saez-Diez and Yiming Zuo and Jonathan Liu and Hongyu Wen and Stamatis Alexandropoulos and Karhan Kayan and Anna Calveri and Tao Sun and Gaowen Liu and Yi Shao and Alexander Raistrick and Jia Deng},
  year = {2025},
  eprint = {2505.10755},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2505.10755},
}

@misc{liu2024aligning,
  title = {{Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI}},
  author = {Yang Liu and Weixing Chen and Yongjie Bai and Xiaodan Liang and Guanbin Li and Wen Gao and Liang Lin},
  year = {2024},
  eprint = {2407.06886},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2407.06886},
}

@misc{akinola2024tacsl,
  title = {{TacSL: A Library for Visuotactile Sensor Simulation and Learning}},
  author = {Iretiayo Akinola and Jie Xu and Jan Carius and Dieter Fox and Yashraj Narang},
  year = {2024},
  eprint = {2408.06506},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2408.06506},
}

@misc{jiang2024dexmimicgen,
  title = {{DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning}},
  author = {Zhenyu Jiang and Yuqi Xie and Kevin Lin and Zhenjia Xu and Weikang Wan and Ajay Mandlekar and Linxi Fan and Yuke Zhu},
  year = {2024},
  eprint = {2410.24185},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2410.24185},
}

@misc{si2024difftactile,
  title = {{DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation}},
  author = {Zilin Si and Gu Zhang and Qingwei Ben and Branden Romero and Zhou Xian and Chao Liu and Chuang Gan},
  year = {2024},
  eprint = {2403.08716},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.08716},
}

@misc{nguyen2024tacex,
  title = {{TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators}},
  author = {Duc Huy Nguyen and Tim Schneider and Guillaume Duret and Alap Kshirsagar and Boris Belousov and Jan Peters},
  year = {2024},
  eprint = {2411.04776},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2411.04776},
}

@misc{chernyadev2024bigym,
  title = {{BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark}},
  author = {Nikita Chernyadev and Nicholas Backshall and Xiao Ma and Yunfan Lu and Younggyo Seo and Stephen James},
  year = {2024},
  eprint = {2407.07788},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2407.07788},
}

@misc{shukla2024maniskill,
  title = {{ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks}},
  author = {Arth Shukla and Stone Tao and Hao Su},
  year = {2024},
  eprint = {2412.13211},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2412.13211},
}

@misc{zhong2024unrealzoo,
  title = {{UnrealZoo: Enriching Photo-realistic Virtual Worlds for Embodied AI}},
  author = {Fangwei Zhong and Kui Wu and Churan Wang and Hao Chen and Hai Ci and Zhoujun Li and Yizhou Wang},
  year = {2024},
  eprint = {2412.20977},
  archivePrefix = {arXiv},
  primaryClass = {cs.AI},
  url = {https://arxiv.org/abs/2412.20977},
}

@misc{sferrazza2024humanoidbench,
  title = {{HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation}},
  author = {Carmelo Sferrazza and Dun-Ming Huang and Xingyu Lin and Youngwoon Lee and Pieter Abbeel},
  year = {2024},
  eprint = {2403.10506},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.10506},
}

@misc{mandlekar2023mimicgen,
  title = {{MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations}},
  author = {Ajay Mandlekar and Soroush Nasiriany and Bowen Wen and Iretiayo Akinola and Yashraj Narang and Linxi Fan and Yuke Zhu and Dieter Fox},
  year = {2023},
  eprint = {2310.17596},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2310.17596},
}

@misc{lin2022tactile,
  title = {{Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch}},
  author = {Yijiong Lin and John Lloyd and Alex Church and Nathan F. Lepora},
  year = {2022},
  eprint = {2207.10763},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2207.10763},
}

@misc{deitke2022objaverse,
  title = {{Objaverse: A Universe of Annotated 3D Objects}},
  author = {Matt Deitke and Dustin Schwenk and Jordi Salvador and Luca Weihs and Oscar Michel and Eli VanderBilt and Ludwig Schmidt and Kiana Ehsani and Aniruddha Kembhavi and Ali Farhadi},
  year = {2022},
  eprint = {2212.08051},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2212.08051},
}

@misc{si2021taxim,
  title = {{Taxim: An Example-based Simulation Model for GelSight Tactile Sensors}},
  author = {Zilin Si and Wenzhen Yuan},
  year = {2021},
  eprint = {2109.04027},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2109.04027},
}

@misc{makoviychuk2021isaac,
  title = {{Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning}},
  author = {Viktor Makoviychuk and Lukasz Wawrzyniak and Yunrong Guo and Michelle Lu and Kier Storey and Miles Macklin and David Hoeller and Nikita Rudin and Arthur Allshire and Ankur Handa and Gavriel State},
  year = {2021},
  eprint = {2108.10470},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2108.10470},
}

@misc{szot2021habitat,
  title = {{Habitat 2.0: Training Home Assistants to Rearrange their Habitat}},
  author = {Andrew Szot and Alex Clegg and Eric Undersander and Erik Wijmans and Yili Zhao and John Turner and Noah Maestre and Mustafa Mukadam and Devendra Chaplot and Oleksandr Maksymets and Aaron Gokaslan and Vladimir Vondrus and Sameer Dharur and Franziska Meier and Wojciech Galuba and Angel Chang and Zsolt Kira and Vladlen Koltun and Jitendra Malik and Manolis Savva and Dhruv Batra},
  year = {2021},
  eprint = {2106.14405},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2106.14405},
}

@misc{ramakrishnan2021habitat,
  title = {{Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI}},
  author = {Santhosh K. Ramakrishnan and Aaron Gokaslan and Erik Wijmans and Oleksandr Maksymets and Alex Clegg and John Turner and Eric Undersander and Wojciech Galuba and Andrew Westbury and Angel X. Chang and Manolis Savva and Yili Zhao and Dhruv Batra},
  year = {2021},
  eprint = {2109.08238},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2109.08238},
}

@misc{wang2020tacto,
  title = {{TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors}},
  author = {Shaoxiong Wang and Mike Lambeta and Po-Wei Chou and Roberto Calandra},
  year = {2020},
  eprint = {2012.08456},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2012.08456},
}

@misc{xiang2020sapien,
  title = {{SAPIEN: A SimulAted Part-based Interactive ENvironment}},
  author = {Fanbo Xiang and Yuzhe Qin and Kaichun Mo and Yikuan Xia and Hao Zhu and Fangchen Liu and Minghua Liu and Hanxiao Jiang and Yifu Yuan and He Wang and Li Yi and Angel X. Chang and Leonidas J. Guibas and Hao Su},
  year = {2020},
  eprint = {2003.08515},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2003.08515},
}

@misc{lin2020softgym,
  title = {{SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation}},
  author = {Xingyu Lin and Yufei Wang and Jake Olkin and David Held},
  year = {2020},
  eprint = {2011.07215},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2011.07215},
}

@misc{tobin2017domain,
  title = {{Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World}},
  author = {Josh Tobin and Rachel Fong and Alex Ray and Jonas Schneider and Wojciech Zaremba and Pieter Abbeel},
  year = {2017},
  eprint = {1703.06907},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1703.06907},
}

@misc{peng2017sim,
  title = {{Sim-to-Real Transfer of Robotic Control with Dynamics Randomization}},
  author = {Xue Bin Peng and Marcin Andrychowicz and Wojciech Zaremba and Pieter Abbeel},
  year = {2017},
  eprint = {1710.06537},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1710.06537},
}