SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation

arXiv:2606.08278 · cs.RO · Submitted 2026-06-06 · Read on arXiv

cs.RO

Submitted: 2026-06-06

Updated: 2026-10-12

Code: https://github.com/LeCAR-Lab/HumanoidVerse

Terminology

• Benchmark — 3× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• World Action Models (WAMs) — 1× in this paper · explained in 2 episodes

Sources

• $\Psi_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• World Action Models are Zero-shot Policies
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
• AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World
• Evaluating Real-World Robot Manipulation Policies in Simulation
• BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
• GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
• Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks
• RoboChallenge: Large-scale Real-robot Evaluation of Embodied Policies
• RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
• ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
• OpenAI Gym
• LeRobot: An Open-Source Library for End-to-End Robot Learning

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• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies