Robotics is entering a new phase: moving from controlled demos and scripted automation toward generalizable, reliable embodied autonomy in the real world.

At the International Conference on Robotics and Automation (ICRA), eight of NVIDIA Research’s 28 accepted papers show how simulation-to-real transfer is becoming a foundation for that shift, helping robots perceive, reason, plan and act across dynamic, unpredictable environments.

Together, the papers span the full stack of challenges robot developers face: coordinating multiple arms in parallel, building policies that generalize across robot bodies, grasping novel objects in clutter, performing precise assembly and developing vision-language-action models that reason before they move.

The throughline is clear: sim-to-real is becoming a foundation for robots that can adapt, generalize, and operate with greater reliability outside the lab.

Coordinating Arms, Navigating Bodies, Grasping Objects

Picture a pharmaceutical lab run by robotic arms: picking up tubes, transferring liquids, mixing reagents — each step taking different amounts of time, all requiring careful coordination.

Traditional robot scheduling software handles those steps sequentially, one arm at a time.

ScheduleStream changes that by running computations on GPUs, letting multiple arms plan movements and operate in parallel. The result — a 3x speedup across multi-arm planning scenarios, on hardware like the NVIDIA Jetson edge AI platform. Code for the framework is available on GitHub.

A robot that learns to navigate through a space — avoiding obstacles and finding its destination — usually learns to do it in one body. Put the same navigation software into a differently shaped robot and it often falls apart, because its parts all move differently.

The COMPASS policy framework solves this by first building the baseline navigation functionality using imitation learning and then using residual reinforcement learning in NVIDIA Isaac Lab to build specialists for diverse robot embodiments. Crucially, no real-world robot data is involved at any stage: everything is trained in Isaac Lab simulation.

Compared with an imitation learning baseline, COMPASS achieved a 4.5x improvement in average success rate. It also seamlessly transfers to real-world environments, demonstrating around 80% success across 20 real-world navigation trials on autonomous mobile robots and humanoids.

COMPASS is agent-friendly, with dedicated skills — and developers can connect the pipeline with NVIDIA Omniverse NuRec to post-train and validate robots in a digital twin of a novel environment before deployment.

Most grasping systems identify the object, predict a grasp, plan a path, then execute. But the last few centimeters are where small errors matter most.

Grasp-MPC adaptively computes robotic grasps, continuously correcting the robot’s motion as it closes in on the object, rather than carrying out a fixed plan — the way a person grabs something by feeling rather than calculating every joint angle in advance.

To build the policy, the researchers generated 2 million simulated trajectories across 8,000 objects using annotations from the GraspGen dataset and motion planning data from cuRobo, a CUDA-accelerated library for robot motion generation.

After training on both successful and failed trajectories, Grasp-MPC learned to grasp novel objects in cluttered tabletops and shelves — achieving around 75% overall success on real robots, compared with a baseline of 41%.

Deformable Cluster Manipulation introduces a framework that tackles a parallel challenge: enabling systems to grasp not just one object, but a whole bundle of flexible, tangled material at once.

The framework was motivated by a real-world task: clearing a mass of tree branches that have grown over a power line, where there’s no single clean object to grab. The system uses its entire arm, not just the gripper: wrapping it around the branch cluster and sweeping it aside, the way someone might gather an armful of cables or push a tangle of brush out of the way.

The researchers built a tree generator using biological growth equations to create synthetic trees of many different shapes and sizes — then trained the system across thousands of them in NVIDIA Isaac open simulation frameworks.

The policy deploys to real branches zero shot. Beyond power lines, the researchers see potential in cable management, agricultural inspection and anywhere robots need to handle a tangle rather than a single graspable item.

Clearing tree branches in zero-shot sim-to-real deployment.

Assembling With Precision

Precise assembly — threading a nut onto a bolt, inserting a gear onto a gearshaft, pressing a peg into a hole — is notoriously hard to get right with simulation alone.

The real world is complex. Real surfaces aren’t perfectly smooth. Sensors don’t behave as specified. Tiny discrepancies that a simulator ignores can stop a robot in its tracks.

The SPARR method addresses this by splitting the job in two. A policy trained in Isaac Lab learns the general strategy for the assembly task in simulation. Then, on...