Sim Envs Finally Useful for RL Post-Training of Robot Models, But Benchmarks Too Simple

DominiqueCAPaul · x · 2026-09-14

A practitioner working on RL methods to post-train robotic AI models notes that sim environments are, for the first time, actually useful for validation and ablations.

After an afternoon of scouting sim tasks, they found many are surprisingly simple
DuoBench stands out as the most useful benchmark, with sufficiently hard bimanual tasks (handovers, balancing, assembly)
FurnitureBench looks interesting but is Isaac Sim-only — painful to set up despite better sim2real, which they aren't doing

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Sim Envs Finally Useful for RL Post-Training of Robot Models, But Benchmarks Too Simple

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