Awesome Sim-to-Real

Key papers

• Closing The Loop For Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach (2018)
  Douglas Morrison, Peter Corke, Jürgen Leitner
  20.12
• Neural Network Dynamics For Model-based Deep Reinforcement Learning With Model-free Fine-tuning (2017)
  Anusha Nagabandi, Gregory Kahn, Ronald S. Fearing, et al.
  19.98
• SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning (2025)
  Haozhan Li et al.
  18.40
• Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones (2020)
  Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, et al.
  16.61
• 3D Diffusion Policy: Generalizable Visuomotor Policy Learning Via Simple 3D Representations (2024)
  Yanjie Ze, Gu Zhang, Kangning Zhang, et al.
  16.45
• Sim-to-real Learning Of All Common Bipedal Gaits Via Periodic Reward Composition (2020)
  Jonah Siekmann, Yesh Godse, Alan Fern, et al.
  16.25
• Cat-like Jumping And Landing Of Legged Robots In Low-gravity Using Deep Reinforcement Learning (2021)
  Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, et al.
  15.62
• Igibson 1.0: A Simulation Environment For Interactive Tasks In Large Realistic Scenes (2020)
  Bokui Shen, Fei Xia, Chengshu Li, et al.
  15.46
• Reset-free Trial-and-error Learning For Robot Damage Recovery (2016)
  Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Jean-Baptiste Mouret
  14.31
• Bayessim: Adaptive Domain Randomization Via Probabilistic Inference For Robotics Simulators (2019)
  Fabio Ramos, Rafael Carvalhaes Possas, Dieter Fox
  14.19
• Sim-to-real Transfer For Biped Locomotion (2019)
  Wenhao Yu, Visak Cv Kumar, Greg Turk, et al.
  14.19
• Perpetual Humanoid Control For Real-time Simulated Avatars (2023)
  Zhengyi Luo, Jinkun Cao, Alexander Winkler, et al.
  13.84
• Meta Reinforcement Learning For Sim-to-real Domain Adaptation (2019)
  Karol Arndt, Murtaza Hazara, Ali Ghadirzadeh, et al.
  13.74
• Autonomous Exploration Under Uncertainty Via Deep Reinforcement Learning On Graphs (2020)
  Fanfei Chen, John D. Martin, Yewei Huang, et al.
  13.74
• Sim2real Transfer For Reinforcement Learning Without Dynamics Randomization (2020)
  Manuel Kaspar, Juan David Munoz Osorio, Jürgen Bock
  13.74
• Self-organizing Maps For Storage And Transfer Of Knowledge In Reinforcement Learning (2018)
  Thommen George Karimpanal, Roland Bouffanais
  13.50
• Bi-directional Domain Adaptation For Sim2real Transfer Of Embodied Navigation Agents (2020)
  Joanne Truong, Sonia Chernova, Dhruv Batra
  13.34
• Robust Feedback Motion Policy Design Using Reinforcement Learning On A 3D Digit Bipedal Robot (2021)
  Guillermo A. Castillo, Bowen Weng, Wei Zhang, et al.
  13.28
• Unidexgrasp++: Improving Dexterous Grasping Policy Learning Via Geometry-aware Curriculum And Iterative Generalist-specialist Learning (2023)
  Weikang Wan, Haoran Geng, Yun Liu, et al.
  13.23
• Safety Augmented Value Estimation From Demonstrations (SAVED): Safe Deep Model-based RL For Sparse Cost Robotic Tasks (2019)
  Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, et al.
  12.81
• Driving With Style: Inverse Reinforcement Learning In General-purpose Planning For Automated Driving (2019)
  Sascha Rosbach, Vinit James, Simon Großjohann, et al.
  12.74
• Sim-to-real For Robotic Tactile Sensing Via Physics-based Simulation And Learned Latent Projections (2021)
  Yashraj Narang, Balakumar Sundaralingam, Miles MacKlin, et al.
  12.61
• Self-supervised Sim-to-real Adaptation For Visual Robotic Manipulation (2019)
  Rae Jeong, Yusuf Aytar, David Khosid, et al.
  12.10
• Simgan: Hybrid Simulator Identification For Domain Adaptation Via Adversarial Reinforcement Learning (2021)
  Yifeng Jiang, Tingnan Zhang, Daniel Ho, et al.
  12.10
• Hierarchical Model-based Imitation Learning For Planning In Autonomous Driving (2022)
  Eli Bronstein, Mark Palatucci, Dominik Notz, et al.
  12.02
• Latent Imagination Facilitates Zero-shot Transfer In Autonomous Racing (2021)
  Axel Brunnbauer, Luigi Berducci, Andreas Brandstätter, et al.
  11.67
• Fast Online Adaptation In Robotics Through Meta-learning Embeddings Of Simulated Priors (2020)
  Rituraj Kaushik, Timothée Anne, Jean-Baptiste Mouret
  11.49
• Bi-touch: Bimanual Tactile Manipulation With Sim-to-real Deep Reinforcement Learning (2023)
  Yijiong Lin, Alex Church, Max Yang, et al.
  11.49
• Accelerated Sim-to-real Deep Reinforcement Learning: Learning Collision Avoidance From Human Player (2021)
  Hanlin Niu, Ze Ji, Farshad Arvin, et al.
  11.49
• Adversarial Discriminative Sim-to-real Transfer Of Visuo-motor Policies (2017)
  Fangyi Zhang, Jürgen Leitner, Zongyuan Ge, et al.
  11.49
• Sim-to-real Learning For Bipedal Locomotion Under Unsensed Dynamic Loads (2022)
  Jeremy Dao, Kevin Green, Helei Duan, et al.
  11.39
• Parallel Monte Carlo Tree Search With Batched Rigid-body Simulations For Speeding Up Long-horizon Episodic Robot Planning (2022)
  Baichuan Huang, Abdeslam Boularias, Jingjin Yu
  11.36
• Learning Task-parameterized Skills From Few Demonstrations (2022)
  Jihong Zhu, Michael Gienger, Jens Kober
  11.29
• Sim-to-real Transfer With Incremental Environment Complexity For Reinforcement Learning Of Depth-based Robot Navigation (2020)
  Thomas Chaffre, Julien Moras, Adrien Chan-Hon-Tong, et al.
  11.19
• Visuomotor Mechanical Search: Learning To Retrieve Target Objects In Clutter (2020)
  Andrey Kurenkov, Joseph Taglic, Rohun Kulkarni, et al.
  11.19
• Hierarchical Reinforcement Learning Method For Autonomous Vehicle Behavior Planning (2019)
  Zhiqian Qiao, Zachariah Tyree, Priyantha Mudalige, et al.
  11.19
• Zero-shot Sim-to-real Transfer Of Tactile Control Policies For Aggressive Swing-up Manipulation (2021)
  Thomas Bi, Carmelo Sferrazza, Raffaello D'Andrea
  11.08
• Sim2real2sim: Bridging The Gap Between Simulation And Real-world In Flexible Object Manipulation (2020)
  Peng Chang, Taskin Padir
  11.08
• Grasp Stability Prediction With Sim-to-real Transfer From Tactile Sensing (2022)
  Zilin Si, Zirui Zhu, Arpit Agarwal, et al.
  11.08
• Autonomous Exploration And Mapping For Mobile Robots Via Cumulative Curriculum Reinforcement Learning (2023)
  Zhi Li, Jinghao Xin, Ning Li
  11.04
• These Maps Are Made For Walking: Real-time Terrain Property Estimation For Mobile Robots (2022)
  Parker Ewen, Adam Li, Yuxin Chen, et al.
  10.97
• Learning To Locomote: Understanding How Environment Design Matters For Deep Reinforcement Learning (2020)
  Daniele Reda, Tianxin Tao, Michiel van de Panne
  10.97
• SPOC: Imitating Shortest Paths In Simulation Enables Effective Navigation And Manipulation In The Real World (2023)
  Kiana Ehsani, Tanmay Gupta, Rose Hendrix, et al.
  10.85
• Differentiable Physics Models For Real-world Offline Model-based Reinforcement Learning (2020)
  Michael Lutter, Johannes Silberbauer, Joe Watson, et al.
  10.74
• Deep Reinforcement Learning With A Stage Incentive Mechanism Of Dense Reward For Robotic Trajectory Planning (2020)
  Gang Peng, Jin Yang, Xinde Lia, et al.
  10.61
• Interactive Imitation Learning Of Bimanual Movement Primitives (2022)
  Giovanni Franzese, Leandro de Souza Rosa, Tim Verburg, et al.
  10.48
• Adaptive Prior Selection For Repertoire-based Online Adaptation In Robotics (2019)
  Rituraj Kaushik, Pierre Desreumaux, Jean-Baptiste Mouret
  10.48
• Domain Randomization For Sim2real Transfer Of Automatically Generated Grasping Datasets (2023)
  Johann Huber, François Hélénon, Hippolyte Watrelot, et al.
  10.35
• Optimizing Bipedal Maneuvers Of Single Rigid-body Models For Reinforcement Learning (2022)
  Ryan Batke, Fangzhou Yu, Jeremy Dao, et al.
  10.21
• Using Parameterized Black-box Priors To Scale Up Model-based Policy Search For Robotics (2017)
  Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret
  10.21
• Bayesian Meta-learning For Few-shot Policy Adaptation Across Robotic Platforms (2021)
  Ali Ghadirzadeh, Xi Chen, Petra Poklukar, et al.
  10.21
• RISE: 3D Perception Makes Real-world Robot Imitation Simple And Effective (2024)
  Chenxi Wang, Hongjie Fang, Hao-Shu Fang, et al.
  10.21
• Decentralized Circle Formation Control For Fish-like Robots In The Real-world Via Reinforcement Learning (2021)
  Tianhao Zhang, Yueheng Li, Shuai Li, et al.
  10.21
• Aerial Gym Simulator: A Framework For Highly Parallelized Simulation Of Aerial Robots (2025)
  Mihir Kulkarni, Welf Rehberg, Kostas Alexis
  10.15
• Soft Robots Learn To Crawl: Jointly Optimizing Design And Control With Sim-to-real Transfer (2022)
  Charles Schaff, Audrey Sedal, Matthew R. Walter
  10.07
• Reinforcement Learning In Robotic Motion Planning By Combined Experience-based Planning And Self-imitation Learning (2023)
  Sha Luo, Lambert Schomaker
  9.92
• Self-organized Collective Motion With A Simulated Real Robot Swarm (2019)
  Mohsen Raoufi, Ali Emre Turgut, Farshad Arvin
  9.92
• Learning To Slide Unknown Objects With Differentiable Physics Simulations (2020)
  Changkyu Song, Abdeslam Boularias
  9.92
• An Optimal Online Method Of Selecting Source Policies For Reinforcement Learning (2017)
  Siyuan Li, Chongjie Zhang
  9.76
• Revisiting Reward Design And Evaluation For Robust Humanoid Standing And Walking (2024)
  Bart van Marum, Aayam Shrestha, Helei Duan, et al.
  9.76