Evaluating Real-World Robot Manipulation Policies in Simulation

arXiv:2405.05941v1 Announce Type: cross
Abstract: The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies broaden the spectrum of tasks they can perform. We identify control and visual disparities between real and simulated environments as key challenges for reliable simulated evaluation and propose approaches for mitigating these gaps without needing to craft full-fidelity digital twins of real-world …

arxiv cs.cv cs.lg cs.ro manipulation policies robot robot manipulation simulation type world