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

120 papers, page 1 of 3

1. ICML 2026$\tau$-Voice: Benchmarking Full-Duplex Voice Agents on Real-World Domains
2. ICML 2026A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies
3. ICML 2026All Circuits Lead to Rome: Rethinking Functional Anisotropy in Circuit and Sheaf Discovery for LLMs
4. ICML 2026Amodal Instance Segmentation with IRAIS Dataset for Sim-to-Real Transfer
5. ICML 2026BizFinBench.v2: Towards Reliable LLMs in Finance via Real-User Data and Offline/Online Bilingual Evaluation
6. ICML 2026Breaking the Synthetic-Real Domain Shortcut for Training-Free Generative Replay-based Class Incremental Learning
7. ICML 2026Closing the Sim-to-Real Gap in Non-Markovian Spreading Processes via GPU-Accelerated Distributional RL
8. ICML 2026Domain Transfer Becomes Identifiable via a Single Alignment
9. ICML 2026Domain-Shift-Aware Conformal Prediction for Large Language Models
10. ICML 2026Evidential Reasoning Advances Interpretable Real-World Disease Screening
11. ICML 2026Focus-Then-Contact: Speeding Up Robotic Contact-Rich Task Learning with Affordance-Guided Real-World Residual Reinforcement Learning
12. ICML 2026From Welfare to Utility: Generalized Objectives in Budget-Feasible Procurement
13. ICML 2026Hyperparameter Transfer with Mixture-of-Expert Layers
14. ICML 2026Incorporating Importance Weighting in Optimal Transport Based Domain Alignment
15. ICML 2026LIMMT: Less Is More for Motion Tracking
16. ICML 2026MER-DG: Modality-Entropy Regularization for Multimodal Domain Generalization
17. ICML 2026MoSA: Motion-constrained Stress Adaptation for Mitigating Real-to-Sim Gap in Continuum Dynamics via Learning Residual Anisotropy
18. ICML 2026Near-Universal Multiplicative Updates for Nonnegative Einsum Factorization
19. ICML 2026Quantifying Cross-Domain Knowledge Distillation in the Presence of Domain Shift
20. ICML 2026Real-Time Monitoring and Calibration of Chain-of-Thought Sycophancy in Large Reasoning Models
21. ICML 2026REAL: Regression-Aware Reinforcement Learning for LLM-as-a-Judge
22. ICML 2026RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
23. ICML 2026RTInfer: Real-Time Inference of Multiple DNNs on Edge GPUs
24. ICML 2026Same Graph Cross-Task Transfer in GNNs: Protocols and Predictors
25. ICML 2026Scaling Unsupervised Multi-Source Federated Domain Adaptation through Group-Wise Discrepancy Minimization
26. ICML 2026Server-Proximal Aggregation for Federated Domain-Incremental Learning under Partial Participation: Task-Uniform Convergence and Backward Transfer
27. ICML 2026Sobolev Regularized Score Difference Estimation in Diffusion Models
28. ICML 2026SoMA: A Real-to-Sim Neural Simulator for Robotic Soft-Body Manipulation
29. ICML 2026SorryDB: Can AI Provers Complete Real-World Lean Theorems?
30. ICML 2026SWE-Perf: Can Language Models Optimize Code Performance on Real-World Repositories?
31. ICML 2026Train Once, Reuse Everywhere: Generalizable Implicit ICL by Routing Attention
32. ICML 2026Transfer Learning in Nonparametric Regression with Deep ReLU Networks
33. ICML 2026Transferable Reinforcement Learning via Probabilistic Latent Embeddings and Dynamic Policy Adaptation for Sim-to-Real Deployment
34. ICML 2025BiMaCoSR: Binary One-Step Diffusion Model Leveraging Flexible Matrix Compression for Real Super-Resolution
35. ICML 2025Doubly Robust Conformalized Survival Analysis with Right-Censored Data
36. ICML 2025DragSolver: A Multi-Scale Transformer for Real-World Automotive Drag Coefficient Estimation
37. ICML 2025Enhancing Statistical Validity and Power in Hybrid Controlled Trials: A Randomization Inference Approach with Conformal Selective Borrowing
38. ICML 2025Flow-based Domain Randomization for Learning and Sequencing Robotic Skills
39. ICML 2025Function Encoders: A Principled Approach to Transfer Learning in Hilbert Spaces
40. ICML 2025G-Sim: Generative Simulations with Large Language Models and Gradient-Free Calibration
41. ICML 2025Geometric Median (GM) Matching for Robust k-Subset Selection from Noisy Data
42. ICML 2025HyperIV: Real-time Implied Volatility Smoothing
43. ICML 2025ITBench: Evaluating AI Agents across Diverse Real-World IT Automation Tasks
44. ICML 2025Learning Survival Distributions with the Asymmetric Laplace Distribution
45. ICML 2025No Soundness in the Real World: On the Challenges of the Verification of Deployed Neural Networks
46. ICML 2025Optimal Transfer Learning for Missing Not-at-Random Matrix Completion
47. ICML 2025Positive-unlabeled AUC Maximization under Covariate Shift
48. ICML 2025Sanity Checking Causal Representation Learning on a Simple Real-World System
49. ICML 2025Set Valued Predictions For Robust Domain Generalization
50. ICML 2025TLLC: Transfer Learning-based Label Completion for Crowdsourcing

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.