Getting Out and Getting Back: World and Behavior Grounding in Real2Sim2Real Co-Training
The study investigated how grounding simulation data affects policy performance in real-to-sim co-training. It found that world grounding is primary for success, improving performance by 18 percentage points. Behavior grounding is crucial for policies to revert to human behavior when world fidelity is imperfect. Grounded simulation remains beneficial for foundation models.