{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T21:05:42Z","timestamp":1780434342759,"version":"3.54.1"},"reference-count":53,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"7","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"MSc Honours Programme"},{"DOI":"10.13039\/100007655","name":"Czech Technical University in Prague","doi-asserted-by":"crossref","award":["SGS25\/158\/OHK3\/3 T\/13"],"award-info":[{"award-number":["SGS25\/158\/OHK3\/3 T\/13"]}],"id":[{"id":"10.13039\/100007655","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/100007655","name":"Czech Technical University in Prague","doi-asserted-by":"crossref","award":["SGS25\/156\/OHK3\/3 T\/13 (GP)"],"award-info":[{"award-number":["SGS25\/156\/OHK3\/3 T\/13 (GP)"]}],"id":[{"id":"10.13039\/100007655","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/100007655","name":"Czech Technical University in Prague","doi-asserted-by":"crossref","award":["SGS26\/159\/OHK3\/3 T\/13"],"award-info":[{"award-number":["SGS26\/159\/OHK3\/3 T\/13"]}],"id":[{"id":"10.13039\/100007655","id-type":"DOI","asserted-by":"crossref"}]},{"name":"European Union&#x0027;s Horizon Europe projects AGIMUS","award":["101070165"],"award-info":[{"award-number":["101070165"]}]},{"name":"European Union&#x0027;s Horizon Europe projects CLARA","award":["101136607"],"award-info":[{"award-number":["101136607"]}]},{"name":"European Union&#x0027;s Horizon Europe projects","award":["101214398"],"award-info":[{"award-number":["101214398"]}]},{"name":"European Union&#x0027;s Horizon Europe projects ERC FRONTIER","award":["101097822"],"award-info":[{"award-number":["101097822"]}]},{"name":"European Union&#x0027;s Horizon Europe projects euROBIN","award":["101070596"],"award-info":[{"award-number":["101070596"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1109\/lra.2026.3692088","type":"journal-article","created":{"date-parts":[[2026,5,11]],"date-time":"2026-05-11T19:48:18Z","timestamp":1778528898000},"page":"8315-8322","source":"Crossref","is-referenced-by-count":0,"title":["REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulation"],"prefix":"10.1109","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-1445-4685","authenticated-orcid":false,"given":"Martin","family":"Sedlacek","sequence":"first","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pavlo","family":"Yefanov","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1239-7028","authenticated-orcid":false,"given":"Georgy","family":"Ponimatkin","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9348-3459","authenticated-orcid":false,"given":"Jai","family":"Bardhan","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-8713-521X","authenticated-orcid":false,"given":"Simon","family":"Pilc","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mederic","family":"Fourmy","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Evangelos","family":"Kazakos","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9092-1556","authenticated-orcid":false,"given":"Cees G. M.","family":"Snoek","sequence":"additional","affiliation":[{"name":"University of Amsterdam, Amsterdam, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2554-5301","authenticated-orcid":false,"given":"Josef","family":"Sivic","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9450-4987","authenticated-orcid":false,"given":"Vladimir","family":"Petrik","sequence":"additional","affiliation":[{"name":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/w18-5446"},{"key":"ref2","article-title":"Measuring massive multitask language understanding","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Hendrycks","year":"2021"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2009.5206848"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10602-1_48"},{"key":"ref5","article-title":"BOP challenge 2024 on model-based and model-free 6D object pose estimation","volume-title":"Proc. IEEE\/CVF Conf. Comput. Vis. Pattern Recognit. Workshops","author":"Nguyen","year":"2025"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19830-4_36"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1002\/prot.26617"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-021-03819-2"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2025.xxi.010"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2025.XXI.012"},{"key":"ref11","article-title":"GR00 T N1: An open foundation model for generalist humanoid robots","year":"2025"},{"key":"ref12","article-title":"RT-2: Vision-language-action models transfer web knowledge to robotic control","author":"Brohan","year":"2023"},{"key":"ref13","article-title":"Gemini robotics: Bringing AI into the physical world","author":"Robotics Team","year":"2025"},{"key":"ref14","first-page":"2679","article-title":"OpenVLA: An open-source vision-language-action model","volume-title":"Proc. Int. Conf. Robot Learn.","volume":"270","author":"Kim","year":"2024"},{"key":"ref15","first-page":"336","article-title":"RoboArena: Distributed real-world evaluation of generalist robot policies","volume-title":"Proc. Int. Conf. Robot Learn.","volume":"305","author":"Atreya","year":"2025"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2026.3656785"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11127315"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51701.2025.01037"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.133"},{"key":"ref20","first-page":"3705","article-title":"Evaluating real-world robot manipulation policies in simulation","volume-title":"Proc. Int. Conf. Robot Learn.","volume":"270","author":"Li","year":"2024"},{"key":"ref21","article-title":"Evaluating $\\pi _{0}$ in the wild: Strengths, problems, and the future of generalist robot policies","author":"Wang","year":"2025"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.52202\/075280-1939"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01873"},{"key":"ref24","article-title":"State of VLA Research at ICLR 2026","volume-title":"[Online]. Available:","author":"Reuss","year":"2025"},{"key":"ref25","article-title":"BEHAVIOR-1 K: A human-centered, embodied AI benchmark with 1,000 everyday activities and realistic simulation","author":"Li","year":"2024"},{"key":"ref26","article-title":"KitchenShift: Evaluating zero-shot generalization of imitation-based policy learning under domain shifts","volume-title":"Proc. Adv. Neural Inf. Process. Syst. Workshop Distrib. Shifts","author":"Xing","year":"2021"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.52202\/068431-0048"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3180108"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aea6201"},{"key":"ref30","article-title":"Isaac Lab: A GPU-accelerated simulation framework for multi-modal robot learning","year":"2025"},{"key":"ref31","article-title":"Real-is-Sim: Bridging the sim-to-real gap with a dynamic digital twin for real-world robot policy evaluation","author":"Abou-Chakra","year":"2025"},{"key":"ref32","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2025.XXI.021","article-title":"ManiSkill3: GPU parallelized robotics simulation and rendering for generalizable embodied AI","volume-title":"Proc. Int. Conf. Learn. Representations WRL","author":"Tao","year":"2025"},{"key":"ref33","article-title":"Reliable and scalable robot policy evaluation with imperfect simulators","author":"Badithela","year":"2025"},{"key":"ref34","article-title":"RobotArena $\\infty$: Scalable robot benchmarking via real-to-sim translation","author":"Jangir","year":"2025"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2025.XXI.022"},{"key":"ref36","article-title":"Automated creation of digital cousins for robust policy learning","volume-title":"CoRL","author":"Dai","year":"2024"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.015"},{"key":"ref38","article-title":"Scaling laws for neural language models","author":"Kaplan","year":"2020"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.025"},{"key":"ref40","article-title":"PaliGemma: A versatile 3B VLM for transfer","author":"Beyer","year":"2024"},{"key":"ref41","first-page":"23123","article-title":"Prismatic VLMs: Investigating the design space of visually-conditioned language models","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Karamcheti","year":"2024"},{"key":"ref42","article-title":"Vision-language-action models: Concepts, progress, applications and challenges","author":"Sapkota","year":"2024"},{"key":"ref43","article-title":"BridgeData V2: A dataset for robot learning at scale","volume-title":"CoRL","author":"Walke","year":"2023"},{"key":"ref44","article-title":"Open X-embodiment: Robotic learning datasets and RT-X models","author":"Collaboration","year":"2024"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.120"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1177\/02783649251390579"},{"key":"ref47","article-title":"Ctrl-World: A controllable generative world model for robot manipulation","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Guo","year":"2026"},{"key":"ref48","article-title":"Gemini: A family of highly capable multimodal models","author":"Team","year":"2025"},{"key":"ref49","article-title":"Robot learning as an empirical science: Best practices for policy evaluation","author":"Kress-Gazit","year":"2025"},{"key":"ref50","article-title":"RoboMIND 2.0: A multimodal, bimanual mobile manipulation dataset for generalizable embodied intelligence","author":"Hou","year":"2026"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1145\/3638529.3654193"},{"key":"ref52","article-title":"PolaRiS: Scalable real-to-sim evaluations for generalist robot policies","author":"Jain","year":"2025"},{"key":"ref53","article-title":"Guiding data collection via factored scaling curves","author":"Zha","year":"2025"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11520964\/11513985.pdf?arnumber=11513985","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T20:08:19Z","timestamp":1780430899000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11513985\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":53,"journal-issue":{"issue":"7"},"URL":"https:\/\/doi.org\/10.1109\/lra.2026.3692088","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7]]}}}