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title
Evaluating Real-World Robot Manipulation Policies in Simulation
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Evaluating Real-World Robot Manipulation Policies in Simulation
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Evaluating Real-World Robot Manipulation Policies in Simulation
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2026-02-16 12:42:07
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Evaluating Real-World Robot Manipulation Policies in Simulation Evaluating Real-World Robot Manipulation Policies in Simulation Xuanlin Li* 1 , Kyle Hsu* 2 , Jiayuan Gu* 1 , Karl Pertsch† 2,3 , Oier Mees† 3 , Homer Rich Walke 3 , Chuyuan Fu 4 , Ishikaa Lunawat 2 , Isabel Sieh 2 , Sean Kirmani 4 , Sergey Levine 3 , Jiajun Wu 2 , Chelsea Finn 2 , Hao Su‡ 1 , Quan Vuong‡ 4 , Ted Xiao‡ 4 * Equal contribution †Core contributors ‡Equal advising 1 UC San Diego, 2 Stanford University, 3 UC Berkeley, 4 Google DeepMind Paper Video Code CoLab Characterizing generalist robot manipulation policies typically involves evaluating them on many tasks across many scenarios, a laborious undertaking in the real world (top left). We propose SIMPLER, a collection of simulated environments for manipulation policy evaluation on common real robot setups that shows strong correlation with real-world performance (top right)...
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