USC lab's SIMPLE lands at CoRL 2026: 60-task humanoid sim benchmark for VLA models
zhengyiluo · x · 2026-09-08
- What it is: SIMPLE, a simulation-based policy learning and evaluation testbed for humanoid loco-manipulation from USC's PSI Lab, accepted to CoRL 2026 with paper, code, and project page public.
- Stack: MuJoCo contact-rich dynamics coupled with Isaac Sim photorealistic rendering; 60 whole-body tasks across 50 indoor scenes with 1,000+ object assets.
- Data pipelines: automated trajectory generation via motion planning plus a low-latency VR teleoperation interface, claiming up to 3× faster data collection.
- Benchmark: unified parallel rollouts and leaderboard for mainstream policies incl. GR00T, DreamZero, Cosmos3, π₀, π₀.₅.
- Key finding: sim performance strongly correlates with the real world, and policies trained on SIMPLE data transfer zero-shot to physical humanoids.
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