RobotArena infty: Scalable Robot Benchmarking via Real-to-Sim
  Translation
Authors: name: Yash Jangir, name: Yidi Zhang, name: Kashu Yamazaki, name: Chenyu Zhang, name: Kuan-Hsun Tu, name: Tsung-Wei Ke, name: Lei Ke, name: Yonatan Bisk, name: Katerina Fragkiadaki

The pursuit of robot generalists - instructable agents capable of performing
diverse tasks across diverse environments - demands rigorous and scalable
evaluation. Yet real-world testing of robot policies remains fundamentally
constrained: it is labor-intensive, slow, unsafe at scale, and difficult to
reproduce. Existing simulation benchmarks are similarly limited, as they train
and test policies within the same synthetic domains and cannot assess models
trained from real-world demonstrations or alternative simulation environments.
As policies expand in scope and complexity, these barriers only intensify,
since defining "success" in robotics often hinges on nuanced human judgments of
execution quality. In this paper, we introduce a new benchmarking framework
that overcomes these challenges by shifting VLA evaluation into large-scale
simulated environments augmented with online human feedback. Leveraging
advances in vision-language models, 2D-to-3D generative modeling, and
differentiable rendering, our approach automatically converts video
demonstrations from widely used robot datasets into simulated counterparts.
Within these digital twins, we assess VLA policies using both automated
VLM-guided scoring and scalable human preference judgments collected from
crowdworkers, transforming human involvement from tedious scene setup,
resetting, and safety supervision into lightweight preference comparisons. To
measure robustness, we systematically perturb simulated environments along
multiple axes, such as textures and object placements, stress-testing policy
generalization under controlled variation. The result is a continuously
evolving, reproducible, and scalable benchmark for real-world trained robot
manipulation policies, addressing a critical missing capability in today's
robotics landscape.