A Practical Recipe Towards Improving Sim-and-Real Correlation for VLA Evaluation
Simulation has become an essential tool for evaluating and improving vision-language-action (VLA) policies, offering scalable, reproducible, and controllable alternatives to costly real-world robot evaluation. Recent simulation benchmarks have made substantial progress on realism and diversity, yet these platforms have not been widely adopted as reliable proxies for real-world policy evaluation. In this work, we investigate this issue through the lens of sim-and-real correlation. We conduct a systematic study across multiple simulation platforms, VLA policies, tasks, and perturbation factors, measuring whether simulated evaluation preserves real-world conclusions in terms of policy rankin...
| Authors | Shuo Wang, Hanyuan Xu, Yingdong Hu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 June 2026 |
| Last updated at source | 9 June 2026 |
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