Preprint
Sep 2026
R2S-Eval: Robot Evaluation with Real-to-Sim Calibration via Vision-Language Models
Experiments in both simulation and real-world settings demonstrate that R2S-Eval produces reliable and stable policy conclusions, achieves agreement with human preferences, substantially reduces repeated hardware-operation effort, and reveals behavior-quality differences that are not captured by binary success labels.
Yi-Di Wang, Fei-Xiang Ruan, Ruo-Qu Chen et al.
· 2 citations