aiqbench analysis
This arXiv preprint proposes using coding agents to build robotics simulations and RL environments, and reports that frontier models score very low on its new test tasks (average reward 0.06). The paper's most useful signal for AI readers is the benchmark gap: current models struggle badly on physical tasks, and gains from in-context learning, teacher-student setups, and synthetic demonstrations for VLAs remain unverified outside the authors' setup. Readers should watch whether the released pipeline and environments hold up under independent evaluation.
Gym-Anything for Robotics: Scaling physical simulations with digital agents
arXiv:2610.40565v1 Announce Type: cross Abstract: Realistic, fast robotics simulations could enable large-scale training of embodied AI models that transfer to the real world. However, despite decades of progress, available simulations cover only a narrow range of real-world tasks and physical phenomena. The core bottleneck is that creating better simulations requires significant expert effort and therefore does not scale. To address this, we introduce Gym-Anything for Robotics, a framework in which coding agents create realistic robotics simulations. Our core insight is that simulation creation is a coding agent task, so improvements in coding agents translate directly into richer and more faithful simulations. We select simulations based on U.S. GDP data to cover economically valuable physical work, define what makes a good simulation and a good task, and develop an adversarial creation-audit loop that checks each simulation and task against these definitions. Using this pipeline, we build RoboWorld, a set of 25 simulations with 25 test and 175 training RL environments of varying difficulty. Even the best frontier models fail on every RoboWorld test task, achieving an average reward of only 0.06. Building on RoboWorld, we introduce several new ways for frontier models to improve, including in-context learning across repeated attempts, a privileged teacher that reads the simulator state and teaches a student in context, self-assisted learning from the model's own privileged experience, and code policies that generate demonstrations across varied scenes to train vision-language-action models (VLAs) such as $\pi_{0.5}$. Each of these substantially improves performance. We release our pipeline, RL environments, and benchmark to facilitate future research. Code and data are available at https://gym-anything.github.io/robotics
Abstract:Realistic, fast robotics simulations could enable large-scale training of embodied AI models that transfer to the real world. However, despite decades of progress, available simulations cover only a narrow range of real-world tasks and physical phenomena. The core bottleneck is that creating better simulations requires significant expert effort and therefore does not scale. To address this, we introduce Gym-Anything for Robotics, a framework in which coding agents create realistic robotics simulations. Our core insight is that simulation creation is a coding agent task, so improvements in coding agents translate directly into richer and more faithful simulations. We select simulations based on U.S. GDP data to cover economically valuable physical work, define what makes a good simulation and a good task, and develop an adversarial creation-audit loop that checks each simulation and task against these definitions. Using this pipeline, we build RoboWorld, a set of 25 simulations with 25 test and 175 training RL environments of varying difficulty. Even the best frontier models fail on every RoboWorld test task, achieving an average reward of only 0.06. Building on RoboWorld, we introduce several new ways for frontier models to improve, including in-context learning across repeated attempts, a privileged teacher that reads the simulator state and teaches a student in context, self-assisted learning from the model's own privileged experience, and code policies that generate demonstrations across varied scenes to train vision-language-action models (VLAs) such as $\pi_{0.5}$. Each of these substantially improves performance. We release our pipeline, RL environments, and benchmark to facilitate future research. Code and data are available at this https URL
Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)
arXiv:2610.40565 [cs.RO]
(or arXiv:2610.40565v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.40565 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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Full text under the publisher's open licence · 359 words