H2RBench: A Real-to-Sim Benchmark for Evaluating Human-to-Robot Transfer

arXiv:2609.24778 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-22

Comments: 10th Conference on Robot Learning (CoRL 2026), Austin, TX, USA

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 45× in this paper · explained in 2 episodes
• Alignment — 18× in this paper · explained in 1 episode
• Fidelity — 7× in this paper · explained in 2 episodes
• Mean Maximum Rank Violation — 7× in this paper
• Generalization — 5× in this paper · explained in 13 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Benchmarking — 3× in this paper · explained in 3 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Failure Modes — 3× in this paper · explained in 3 episodes
• Latent Representation — 3× in this paper · explained in 2 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Latent Dynamics — 2× in this paper · explained in 2 episodes
• Latent Representations — 2× in this paper · explained in 3 episodes
• Latent Space — 2× in this paper · explained in 7 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• 2-Wasserstein Distance — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Domain Adaptation — 1× in this paper · explained in 5 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 7 episodes
• Wasserstein Distance — 1× in this paper · explained in 4 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• Emergence of Human to Robot Transfer in Vision-Language-Action Models
• R3M: A Universal Visual Representation for Robot Manipulation
• EgoZero: Robot Learning from Smart Glasses
• MimicPlay: Long-Horizon Imitation Learning by Watching Human Play
• Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
• Phantom: Training Robots Without Robots Using Only Human Videos
• AMPLIFY: Actionless Motion Priors for Robot Learning from Videos
• DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulation
• Evaluating Real-World Robot Manipulation Policies in Simulation
• PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies
• RobotArena $\infty$: Scalable Robot Benchmarking via Real-to-Sim Translation
• ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
• ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
• What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
• Structured World Models from Human Videos
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
• Emergent Correspondence from Image Diffusion
• CoTracker: It is Better to Track Together

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