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

148 papers, page 3 of 3

101. ICML 2024Minimum-Norm Interpolation Under Covariate Shift
102. ICML 2024Offline Training of Language Model Agents with Functions as Learnable Weights
103. ICML 2024On Hypothesis Transfer Learning of Functional Linear Models
104. ICML 2024On the Tractability of SHAP Explanations under Markovian Distributions
105. ICML 2024Pluvial Flood Emulation with Hydraulics-informed Message Passing
106. ICML 2024Position: Automatic Environment Shaping is the Next Frontier in RL
107. ICML 2024Rethinking Transformers in Solving POMDPs
108. ICML 2024Smoothness Adaptive Hypothesis Transfer Learning
109. ICML 2024State-Free Inference of State-Space Models: The *Transfer Function* Approach
110. ICML 2024Superpoint Gaussian Splatting for Real-Time High-Fidelity Dynamic Scene Reconstruction
111. ICML 2024Tell, Don't Show: Language Guidance Eases Transfer Across Domains in Images and Videos
112. ICML 2024The Illusion of State in State-Space Models
113. ICML 2024TravelPlanner: A Benchmark for Real-World Planning with Language Agents
114. ICML 2024When is Transfer Learning Possible?
115. NeurIPS 2024A Practitioner's Guide to Real-World Continual Multimodal Pretraining
116. NeurIPS 2024A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics
117. NeurIPS 2024Covariate Shift Corrected Conditional Randomization Test
118. NeurIPS 2024DetectRL: Benchmarking LLM-Generated Text Detection in Real-World Scenarios
119. NeurIPS 2024DiffuserLite: Towards Real-time Diffusion Planning
120. NeurIPS 2024EASI: Evolutionary Adversarial Simulator Identification for Sim-to-Real Transfer
121. NeurIPS 2024EgoSim: An Egocentric Multi-view Simulator and Real Dataset for Body-worn Cameras during Motion and Activity
122. NeurIPS 2024FashionR2R: Texture-preserving Rendered-to-Real Image Translation with Diffusion Models
123. NeurIPS 2024HairFastGAN: Realistic and Robust Hair Transfer with a Fast Encoder-Based Approach
124. NeurIPS 2024Hamiltonian Monte Carlo on ReLU Neural Networks is Inefficient
125. NeurIPS 2024Humanoid Locomotion as Next Token Prediction
126. NeurIPS 2024Infusing Synthetic Data with Real-World Patterns for Zero-Shot Material State Segmentation
127. NeurIPS 2024NewTerm: Benchmarking Real-Time New Terms for Large Language Models with Annual Updates
128. NeurIPS 2024Noise-Aware Differentially Private Regression via Meta-Learning
129. NeurIPS 2024Overcoming the Sim-to-Real Gap: Leveraging Simulation to Learn to Explore for Real-World RL
130. NeurIPS 2024PertEval: Unveiling Real Knowledge Capacity of LLMs with Knowledge-Invariant Perturbations
131. NeurIPS 2024Re-assembling the past: The RePAIR dataset and benchmark for real world 2D and 3D puzzle solving
132. NeurIPS 2024Real-time Core-Periphery Guided ViT with Smart Data Layout Selection on Mobile Devices
133. NeurIPS 2024Real-Time Recurrent Learning using Trace Units in Reinforcement Learning
134. NeurIPS 2024Real-world Image Dehazing with Coherence-based Pseudo Labeling and Cooperative Unfolding Network
135. NeurIPS 2024realSEUDO for real-time calcium imaging analysis
136. NeurIPS 2024RWKU: Benchmarking Real-World Knowledge Unlearning for Large Language Models
137. NeurIPS 2024Scaling laws for learning with real and surrogate data
138. NeurIPS 2024Segmenting Watermarked Texts From Language Models
139. NeurIPS 2024Self-Healing Machine Learning: A Framework for Autonomous Adaptation in Real-World Environments
140. NeurIPS 2024SpikeReveal: Unlocking Temporal Sequences from Real Blurry Inputs with Spike Streams
141. NeurIPS 2024SpreadsheetBench: Towards Challenging Real World Spreadsheet Manipulation
142. NeurIPS 2024Template-free Articulated Gaussian Splatting for Real-time Reposable Dynamic View Synthesis
143. NeurIPS 2024The Unmet Promise of Synthetic Training Images: Using Retrieved Real Images Performs Better
144. NeurIPS 2024Transfer Learning for Diffusion Models
145. NeurIPS 2024Transfer Learning with Informative Priors: Simple Baselines Better than Previously Reported
146. NeurIPS 2024Transferring disentangled representations: bridging the gap between synthetic and real images
147. NeurIPS 2024WikiContradict: A Benchmark for Evaluating LLMs on Real-World Knowledge Conflicts from Wikipedia
148. NeurIPS 2024Wild-GS: Real-Time Novel View Synthesis from Unconstrained Photo Collections

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.