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

87 papers, page 1 of 2

1. ICLR 2026Beyond Real: Imaginary Extension of Rotary Position Embeddings for Long-Context LLMs
2. ICLR 2026Comparing AI Agents to Cybersecurity Professionals in Real-World Penetration Testing
3. ICLR 2026D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping
4. ICLR 2026DemoGrasp: Universal Dexterous Grasping from a Single Demonstration
5. ICLR 2026DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model
6. ICLR 2026Emergent Dexterity Via Diverse Resets and Large-Scale Reinforcement Learning
7. ICLR 2026Exo-Plore: Exploring Exoskeleton Control Space through Human-aligned Simulation
8. ICLR 2026Exploring Mode Connectivity in Krylov Subspace for Domain Generalization
9. ICLR 2026Exploring Real-Time Super-Resolution: Benchmarking and Fine-Tuning for Streaming Content
10. ICLR 2026Inverse IFEval: Can LLMs Unlearn Stubborn Training Conventions to Follow Real Instructions?
11. ICLR 2026Latent Adaptation of Foundation Policies for Sim-to-Real Transfer
12. ICLR 2026LDT: Layer-Decomposition Training Makes Networks More Generalizable
13. ICLR 2026LearnIR: Learnable Posterior Sampling for Real-World Image Restoration
14. ICLR 2026Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots
15. ICLR 2026MotionStream: Real-Time Video Generation with Interactive Motion Controls
16. ICLR 2026Moving Beyond Medical Exams: A Clinician-Annotated Fairness Dataset of Real-World Tasks and Ambiguity in Mental Healthcare
17. ICLR 2026PatchRefiner V2: Fast and Lightweight Real-Domain High-Resolution Metric Depth Estimation
18. ICLR 2026QPrompt-R1: Real-Time Reasoning for Domain-Generalized Semantic Segmentation via Group-Relative Query Alignment
19. ICLR 2026R2PS: Worst-Case Robust Real-Time Pursuit Strategies under Partial Observability
20. ICLR 2026RAP: 3D Rasterization Augmented End-to-End Planning
21. ICLR 2026Real-Time Robot Execution with Masked Action Chunking
22. ICLR 2026REAL: Reading Out Transformer Activations for Precise Localization in Language Model Steering
23. ICLR 2026RealPDEBench: A Benchmark for Complex Physical Systems with Real-World Data
24. ICLR 2026RFS: Reinforcement learning with Residual flow steering for dexterous manipulation
25. ICLR 2026RobotArena $\infty$: Unlimited Robot Benchmarking via Real-to-Sim Translation
26. ICLR 2026SIM-CoT: Supervised Implicit Chain-of-Thought
27. ICLR 2026Statistical Guarantees for Offline Domain Randomization
28. ICLR 2026Towards Real-World Routing with Neural Combinatorial Optimization
29. ICLR 2026Towards Robust Real-World Multivariate Time Series Forecasting: A Unified Framework for Dependency, Asynchrony, and Missingness
30. ICLR 2026UIS-Digger: Towards Comprehensive Research Agent Systems for Real-world Unindexed Information Seeking
31. ICLR 2026Universal Inverse Distillation for Matching Models with Real-Data Supervision (No GANs)
32. ICLR 2026Unlearning during Training: Domain-Specific Gradient Ascent for Domain Generalization
33. ICLR 2026UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos
34. ICLR 2025Agent-to-Sim: Learning Interactive Behavior Models from Casual Longitudinal Videos
35. ICLR 2025Decoupled Finetuning for Domain Generalizable Semantic Segmentation
36. ICLR 2025Do Contemporary Causal Inference Models Capture Real-World Heterogeneity? Findings from a Large-Scale Benchmark
37. ICLR 2025Domain Guidance: A Simple Transfer Approach for a Pre-trained Diffusion Model
38. ICLR 2025Enabling Realtime Reinforcement Learning at Scale with Staggered Asynchronous Inference
39. ICLR 2025HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation
40. ICLR 2025Handling Delay in Real-Time Reinforcement Learning
41. ICLR 2025Learn Your Reference Model for Real Good Alignment
42. ICLR 2025LOIRE: LifelOng learning on Incremental data via pre-trained language model gRowth Efficiently
43. ICLR 2025MEGA-Bench: Scaling Multimodal Evaluation to over 500 Real-World Tasks
44. ICLR 2025On the Benefits of Attribute-Driven Graph Domain Adaptation
45. ICLR 2025Overcoming False Illusions in Real-World Face Restoration with Multi-Modal Guided Diffusion Model
46. ICLR 2025Rapidly Adapting Policies to the Real-World via Simulation-Guided Fine-Tuning
47. ICLR 2025Semialgebraic Neural Networks: From roots to representations
48. ICLR 2025SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks
49. ICLR 2025WildBench: Benchmarking LLMs with Challenging Tasks from Real Users in the Wild
50. ICLR 2024Adapting Large Language Models via Reading Comprehension

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.