Genie Sim Benchmark: Real-to-Sim Fidelity and Evaluation

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We evaluate Genie Sim Benchmark through paired real-simulation tasks and complementary system-identification studies. Across 22 robot-task pairs spanning 16 task names, task-specific pi0.5 policies fine-tuned on real-robot data achieve a descriptive Score correlation of 0.9686, MAE 0.0405, RMSE 0.0520, with simulation-real differences from -0.110 to +0.080. G2 crsB experiments assess long-horizon closed-loop position and joint-side torque agreement, while five representative object cases examine identification and cross-engine contact transfer. A separate 32.6503 s teleoperation trajectory, excluded from mechanical identification and servo-gain search, evaluates external position targets through simulated motion-controller command shaping and a calibrated position servo. Across both arms, per-joint position RMSE spans 0.00614-0.03522 rad and current-derived torque RMSE spans 0.73545-4.00099 N m. Native PhysX adaptations recover three recorded interaction tasks, with case-dependent alignment gains. These results support task-specific simulation evaluation through joint assessment of task outcomes and physical-response consistency.

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