SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation

arXiv:2606.08278 · cs.RO · Submitted 2026-06-06 · Read on arXiv

cs.RO

Submitted: 2026-06-06

Updated: 2026-10-12

Terminology

• Benchmark — 3× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• World Action Models (WAMs) — 1× in this paper · explained in 2 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies