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polaris intro pipeline results co training resources polaris scalable real to sim evaluations for generalist robot policies real to sim reconstruction simulation co training zero shot evaluation arhan jain 1 mingtong zhang 2 kanav arora 1 william chen 3 marcel torne 4 muhammad zubair irshad 5 sergey zakharov 5 yue wang 6 sergey levine 3 8 chelsea finn 4 8 wei chiu ma 7 dhruv shah 2 abhishek gupta 1 5 karl pertsch 3 4 8 equal contribution equal advising 1 university of washington 2 princeton university 3 university of california berkeley 4 stanford university 5 toyota research institute 6 university of southern california 7 cornell university 8 physical intelligence read the paper code polaris is a real to sim approach for constructing high fidelity simulated environments for scalable evaluation polaris s 3d gaussian splatting based framework quickly turns a short video of a real world scene into a simulation environment we use polaris to create a diverse suite of simulated environments and demonstrate strong correlations to real world evaluations for generalist robot policies the polaris pipeline from video to eval step 1 environment scan a 2 5 minute camera scan captures geometry and appearance charuco for metric scale minimal user effort step 2 neural reconstruction 2d gaussian splatting 2dgs recovers photorealistic visuals we extract meshes for collision and contact aware simulation step 3 object robot insertion robots are articulated with kinematics aware splats objects are generated from multiview images trellis and made physics ready interactive reconstruction viewer explore gaussian splat reconstructions and trellis generated object meshes side by side object mesh generation select object electric drill coke cleaner pot scissor spoon showing cleaner object scan object mesh gaussian splat viewer drag and scroll to rotate and zoom select scene workbench stove lobby desk loading viewer gaussian splat viewer not supported on mobile please visit on desktop for the interactive 3d viewer results all performance metrics are based on normalized task progress scores with 20 rollouts in real and 50 rollouts in sim per policy task pair real sim correlation polaris evaluations correlate strongly with real world performance see comparison rollouts below for polaris and ctrl world roboarena correlation polaris evaluation scores also correlate with policy scores from roboarena this validates that polaris rankings also align with real world human judgments of policy progress and quality learn more about roboarena evaluation videos sample rollouts for the same policies and environments loading videos key insight simulation data co training data mix ablation including simulation data in co training improves correlation co training samples diverse simulated rollouts for visual alignment resources compose environments an interactive tool for composing and configuring polaris simulation environments from reconstructed scenes launch tool polaris hub download our evaluation environments or contribute your own see the contribution guide for more details hugging face bibtex reference misc jain2025polarisscalablerealtosimevaluations title polaris scalable real to sim evaluations for generalist robot policies author arhan jain and mingtong zhang and kanav arora and william chen and marcel torne and muhammad zubair irshad and sergey zakharov and yue wang and sergey levine and chelsea finn and wei chiu ma and dhruv shah and abhishek gupta and karl pertsch year 2025 eprint 2512 16881 archiveprefix arxiv primaryclass cs ro url https arxiv org abs 2512 16881 polaris team source code is available here