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

159 papers, page 2 of 4

51. CVPR 2023YOLOv7: Trainable Bag-of-Freebies Sets New State-of-the-Art for Real-Time Object Detectors
52. CVPR 2023You Only Segment Once: Towards Real-Time Panoptic Segmentation
53. ICLR 2023Autoregressive Conditional Neural Processes
54. ICLR 2023CoRTX: Contrastive Framework for Real-time Explanation
55. ICLR 2023Decompose to Generalize: Species-Generalized Animal Pose Estimation
56. ICLR 2023EVC: Towards Real-Time Neural Image Compression with Mask Decay
57. ICLR 2023Fairness and Accuracy under Domain Generalization
58. ICLR 2023Forward Super-Resolution: How Can GANs Learn Hierarchical Generative Models for Real-World Distributions
59. ICLR 2023Generalize Learned Heuristics to Solve Large-scale Vehicle Routing Problems in Real-time
60. ICLR 2023ImaginaryNet: Learning Object Detectors without Real Images and Annotations
61. ICLR 2023Interpretations of Domain Adaptations via Layer Variational Analysis
62. ICLR 2023Moderate Coreset: A Universal Method of Data Selection for Real-world Data-efficient Deep Learning
63. ICLR 2023Priors, Hierarchy, and Information Asymmetry for Skill Transfer in Reinforcement Learning
64. ICLR 2023Provable Sim-to-real Transfer in Continuous Domain with Partial Observations
65. ICLR 2023Real-Time Image Demoir$\acute{e}$ing on Mobile Devices
66. ICLR 2023Real-time variational method for learning neural trajectory and its dynamics
67. ICLR 2023Seeing Differently, Acting Similarly: Heterogeneously Observable Imitation Learning
68. ICLR 2023Spherical Sliced-Wasserstein
69. ICLR 2023Towards Robust Object Detection Invariant to Real-World Domain Shifts
70. ICLR 2023Transfer Learning with Deep Tabular Models
71. ICML 2023"Why did the Model Fail?": Attributing Model Performance Changes to Distribution Shifts
72. ICML 2023Adversarially Robust PAC Learnability of Real-Valued Functions
73. ICML 2023Approximation and Estimation Ability of Transformers for Sequence-to-Sequence Functions with Infinite Dimensional Input
74. ICML 2023Bidirectional Looking with A Novel Double Exponential Moving Average to Adaptive and Non-adaptive Momentum Optimizers
75. ICML 2023Conformalization of Sparse Generalized Linear Models
76. ICML 2023Constrained Monotonic Neural Networks
77. ICML 2023Contextual Conservative Interleaving Bandits
78. ICML 2023Coupled Variational Autoencoder
79. ICML 2023Crafting Training Degradation Distribution for the Accuracy-Generalization Trade-off in Real-World Super-Resolution
80. ICML 2023DeSRA: Detect and Delete the Artifacts of GAN-based Real-World Super-Resolution Models
81. ICML 2023Distributed Stochastic Gradient Descent: Nonconvexity, Nonsmoothness, and Convergence to Local Minima
82. ICML 2023Drug Discovery under Covariate Shift with Domain-Informed Prior Distributions over Functions
83. ICML 2023Federated Heavy Hitter Recovery under Linear Sketching
84. ICML 2023Formalizing Preferences Over Runtime Distributions
85. ICML 2023From Perception to Programs: Regularize, Overparameterize, and Amortize
86. ICML 2023From Relational Pooling to Subgraph GNNs: A Universal Framework for More Expressive Graph Neural Networks
87. ICML 2023Identifiability of Label Noise Transition Matrix
88. ICML 2023Learning Controllable Degradation for Real-World Super-Resolution via Constrained Flows
89. ICML 2023Multi-Environment Pretraining Enables Transfer to Action Limited Datasets
90. ICML 2023Multiplier Bootstrap-based Exploration
91. ICML 2023Never mind the metrics---what about the uncertainty? Visualising binary confusion matrix metric distributions to put performance in perspective
92. ICML 2023On the Robustness of Randomized Ensembles to Adversarial Perturbations
93. ICML 2023One-sided Matrix Completion from Two Observations Per Row
94. ICML 2023Out-of-Domain Robustness via Targeted Augmentations
95. ICML 2023Regret Minimization and Convergence to Equilibria in General-sum Markov Games
96. ICML 2023Revisiting Domain Randomization via Relaxed State-Adversarial Policy Optimization
97. ICML 2023Robust Budget Pacing with a Single Sample
98. ICML 2023Safe Offline Reinforcement Learning with Real-Time Budget Constraints
99. ICML 2023Settling the Reward Hypothesis
100. ICML 2023Stable Estimation of Heterogeneous Treatment Effects

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.