Sim-to-real gap index

Name: Sim-to-real gap index
Creator: sim2real.world
License: https://creativecommons.org/licenses/by/4.0/

What each paper reported in simulation, what it reported on hardware, and the number it did not give. Every value carries a verbatim quote from the paper's own text; an empty cell means the paper does not report it.

paper	task	sim	real	not reported
ScheduleGen: Demonstration Generation via Skill Scheduling for Multi-Arm Imitation Learning2610.39429 · hardware not stated · zero-shot	—	65.5%mean policy success	50–80%success across eight real-world variants	real-world mean success rate per-task real-world success rates number of real-world trials per variant
Explore Where It Matters: Targeted Exploration for Efficient Rover Adaptation2610.38657 · ERNEST rover · online adaptation	DARTS	approximately 90%slope-climbing success	within three to five real-world trialsrecovery of coordinated active-suspension locomotion	real-world slope-climbing success rate sim-to-real performance gap real-world energy or completion time
SimRetract: Zero-Shot Sim-to-Real Robotic Assistance for Retractor Take-Over in Open Surgery2610.38234 · Trossen WidowX AI arm · zero-shot	Isaac Sim	94%grasp success rate on held-out simulated presentations	90%grasp success rate on surgeon-defined real presentations+4.0 pp	real post-release instrument tip offset real axial twist real-world instrument segmentation/plane-estimation error
Omni-IGN: Onboard Image-Goal Navigation for Drones with Omnidirectional Vision2610.36968 · drone with Jetson Orin NX, OAK-4P-New quad-fisheye rig, Livox Mid-360s LiDAR · zero-shot	Habitat, IsaacSim	not reported	not reported	simulation Success Rate (SR) on Habitat benchmarks real-world Success Rate (SR) collision rate in real-world flights
ActiveAlign: Aligning Egocentric Manipulation via Active Perception2610.36859 · Unitree G1 · not stated	MuJoCo	not reported	not reported	manipulation success rate values for Midi Slider/Toggle Switch tasks sim-to-real transfer success rate
From Biological Curves to Soft Modular Robots: Learning-Based Inverse Design with Uncertainty-Guided Refinement2610.36681 · SoftSnap · zero-shot	—	93%shape reconstruction success rate	not reported	physical reconstruction error real-world success rate sim-to-real error

6 rows · extracted by an automated pass, every value quote-verified against the paper text · built 2026-10-31 · gaps.json
This is a record of reporting, not a ranking. A missing number is a finding, not an error: the last column lists metrics a reader needs to judge transfer that the paper does not supply.