Sim-to-Real papers, 2023–2026

Key findings

• Sim-to-Real went from 159 papers in 2023 to 204 in 2026, roughly 1.3x in three years.
• CVPR publishes the most Sim-to-Real work: 223 papers from 2023 to 2026, 35% of the four-venue total.
• The fastest-growing overlap is with Multimodal LLMs: papers tagged with both rose from 2 in 2023 to 27 in 2026.
• Among the 5 topics under Robotics and Embodied AI, it ranks #3 by 2026 paper count; the fastest grower in the group, Humanoid Control, is up 3.8x versus 1.3x here.

Representative papers

Spread across years and venues so every edition shows up

• NeurIPS 2026AET-Bench: Pixel-Accurate Atomic Tomography Is Not Atom-Accurate
• ICML 2026RTInfer: Real-Time Inference of Multiple DNNs on Edge GPUs
• ICLR 2026Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots
• CVPR 2026AnthroTAP Learning Point Tracking with Real-World Motion
• NeurIPS 2025Algorithms and SQ Lower Bounds for Robustly Learning Real-valued Multi-Index Models
• ICML 2025HyperIV: Real-time Implied Volatility Smoothing
• ICLR 2025Do Contemporary Causal Inference Models Capture Real-World Heterogeneity? Findings from a Large-Scale Benchmark
• CVPR 2025Analyzing the Synthetic-to-Real Domain Gap in 3D Hand Pose Estimation
• NeurIPS 2024EgoSim: An Egocentric Multi-view Simulator and Real Dataset for Body-worn Cameras during Motion and Activity
• ICML 2024A Global Geometric Analysis of Maximal Coding Rate Reduction
• ICLR 2024Extending Power of Nature from Binary to Real-Valued Graph Learning in Real World
• CVPR 2024Density-guided Translator Boosts Synthetic-to-Real Unsupervised Domain Adaptive Segmentation of 3D Point Clouds
• NeurIPS 2023[Re] Pure Noise to the Rescue of Insufficient Data
• ICML 2023Adversarially Robust PAC Learnability of Real-Valued Functions
• ICLR 2023Provable Sim-to-real Transfer in Continuous Domain with Partial Observations
• CVPR 2023Cloud-Device Collaborative Adaptation to Continual Changing Environments in the Real-World
• NeurIPS 2026Coarse-to-Real: Generative Rendering for Populated Dynamic Scenes
• ICML 2026Server-Proximal Aggregation for Federated Domain-Incremental Learning under Partial Participation: Task-Uniform Convergence and Backward Transfer
• ICLR 2026PatchRefiner V2: Fast and Lightweight Real-Domain High-Resolution Metric Depth Estimation
• CVPR 2026BiProLoRA Bilevel Prompt LoRA for Real Scene Recovery

All Sim-to-Real papers

628 papers, page 11 of 13

501. CVPR 2023Phone2Proc: Bringing Robust Robots Into Our Chaotic World
502. CVPR 2023PIDNet: A Real-Time Semantic Segmentation Network Inspired by PID Controllers
503. CVPR 2023PoseFormerV2: Exploring Frequency Domain for Efficient and Robust 3D Human Pose Estimation
504. CVPR 2023Propagate and Calibrate: Real-Time Passive Non-Line-of-Sight Tracking
505. CVPR 2023Real-Time 6K Image Rescaling With Rate-Distortion Optimization
506. CVPR 2023Real-Time Evaluation in Online Continual Learning: A New Hope
507. CVPR 2023Real-Time Neural Light Field on Mobile Devices
508. CVPR 2023RealImpact: A Dataset of Impact Sound Fields for Real Objects
509. CVPR 2023RIDCP: Revitalizing Real Image Dehazing via High-Quality Codebook Priors
510. CVPR 2023SCoDA: Domain Adaptive Shape Completion for Real Scans
511. CVPR 2023Self-Supervised AutoFlow
512. CVPR 2023Semi-Supervised Parametric Real-World Image Harmonization
513. CVPR 2023sRGB Real Noise Synthesizing With Neighboring Correlation-Aware Noise Model
514. CVPR 2023Symmetric Shape-Preserving Autoencoder for Unsupervised Real Scene Point Cloud Completion
515. CVPR 2023The ObjectFolder Benchmark: Multisensory Learning With Neural and Real Objects
516. CVPR 2023Tracking Multiple Deformable Objects in Egocentric Videos
517. CVPR 2023Transfer Knowledge From Head to Tail: Uncertainty Calibration Under Long-Tailed Distribution
518. CVPR 2023Transfer4D: A Framework for Frugal Motion Capture and Deformation Transfer
519. CVPR 2023UV Volumes for Real-Time Rendering of Editable Free-View Human Performance
520. CVPR 2023YOLOv7: Trainable Bag-of-Freebies Sets New State-of-the-Art for Real-Time Object Detectors
521. CVPR 2023You Only Segment Once: Towards Real-Time Panoptic Segmentation
522. ICLR 2023Autoregressive Conditional Neural Processes
523. ICLR 2023CoRTX: Contrastive Framework for Real-time Explanation
524. ICLR 2023Decompose to Generalize: Species-Generalized Animal Pose Estimation
525. ICLR 2023EVC: Towards Real-Time Neural Image Compression with Mask Decay
526. ICLR 2023Fairness and Accuracy under Domain Generalization
527. ICLR 2023Forward Super-Resolution: How Can GANs Learn Hierarchical Generative Models for Real-World Distributions
528. ICLR 2023Generalize Learned Heuristics to Solve Large-scale Vehicle Routing Problems in Real-time
529. ICLR 2023ImaginaryNet: Learning Object Detectors without Real Images and Annotations
530. ICLR 2023Interpretations of Domain Adaptations via Layer Variational Analysis
531. ICLR 2023Moderate Coreset: A Universal Method of Data Selection for Real-world Data-efficient Deep Learning
532. ICLR 2023Priors, Hierarchy, and Information Asymmetry for Skill Transfer in Reinforcement Learning
533. ICLR 2023Provable Sim-to-real Transfer in Continuous Domain with Partial Observations
534. ICLR 2023Real-Time Image Demoir$\acute{e}$ing on Mobile Devices
535. ICLR 2023Real-time variational method for learning neural trajectory and its dynamics
536. ICLR 2023Seeing Differently, Acting Similarly: Heterogeneously Observable Imitation Learning
537. ICLR 2023Spherical Sliced-Wasserstein
538. ICLR 2023Towards Robust Object Detection Invariant to Real-World Domain Shifts
539. ICLR 2023Transfer Learning with Deep Tabular Models
540. ICML 2023"Why did the Model Fail?": Attributing Model Performance Changes to Distribution Shifts
541. ICML 2023Adversarially Robust PAC Learnability of Real-Valued Functions
542. ICML 2023Approximation and Estimation Ability of Transformers for Sequence-to-Sequence Functions with Infinite Dimensional Input
543. ICML 2023Bidirectional Looking with A Novel Double Exponential Moving Average to Adaptive and Non-adaptive Momentum Optimizers
544. ICML 2023Conformalization of Sparse Generalized Linear Models
545. ICML 2023Constrained Monotonic Neural Networks
546. ICML 2023Contextual Conservative Interleaving Bandits
547. ICML 2023Coupled Variational Autoencoder
548. ICML 2023Crafting Training Degradation Distribution for the Accuracy-Generalization Trade-off in Real-World Super-Resolution
549. ICML 2023DeSRA: Detect and Delete the Artifacts of GAN-based Real-World Super-Resolution Models
550. ICML 2023Distributed Stochastic Gradient Descent: Nonconvexity, Nonsmoothness, and Convergence to Local Minima

FAQ

How many Sim-to-Real papers were published at NeurIPS, ICLR, ICML and CVPR from 2023 to 2026?

629 in total: 159 in 2023, 148 in 2024, 118 in 2025, 204 in 2026.

How many Sim-to-Real papers are at NeurIPS 2026?

NeurIPS 2026 has 75 Sim-to-Real papers, versus 33 the year before.

How many Sim-to-Real papers are at ICLR 2026?

ICLR 2026 has 33 Sim-to-Real papers, versus 16 the year before.

How many Sim-to-Real papers are at ICML 2026?

ICML 2026 has 33 Sim-to-Real papers, versus 18 the year before.

How many Sim-to-Real papers are at CVPR 2026?

CVPR 2026 has 63 Sim-to-Real papers, versus 51 the year before.

Which conference publishes the most Sim-to-Real papers?

CVPR, with 223 papers from 2023 to 2026.