{"id":"https://openalex.org/W7164016643","doi":"https://doi.org/10.48550/arxiv.2606.08729","title":"IR-SIM: A Lightweight Skill-Native Simulator for Navigation, Learning, and Benchmarking","display_name":"IR-SIM: A Lightweight Skill-Native Simulator for Navigation, Learning, and Benchmarking","publication_year":2026,"publication_date":"2026-06-07","ids":{"openalex":"https://openalex.org/W7164016643","doi":"https://doi.org/10.48550/arxiv.2606.08729"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.08729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08729","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.08729","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138268003","display_name":"Ruihua Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Ruihua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138210246","display_name":"Shuai Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Shuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138245505","display_name":"Chengyang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Chengyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138251125","display_name":"Rui Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Rui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138245128","display_name":"Xinyi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xinyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138278692","display_name":"Zhe Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138228689","display_name":"Guoliang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Guoliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138276825","display_name":"Yupu Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yupu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134209831","display_name":"Qi Hao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao, Qi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138234985","display_name":"Jia Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Jia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138277081","display_name":"Hengshuang Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hengshuang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.27889999747276306,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.27889999747276306,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.19949999451637268,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.04639999940991402,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7444999814033508},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5457000136375427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4927999973297119},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49149999022483826},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4779999852180481},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.42160001397132874},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.35989999771118164},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35679998993873596}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7444999814033508},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6139000058174133},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5457000136375427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4927999973297119},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49149999022483826},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47369998693466187},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.42160001397132874},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3968000113964081},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3637000024318695},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.35989999771118164},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35679998993873596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3504999876022339},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34769999980926514},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.33390000462532043},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2955999970436096},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C41376638","wikidata":"https://www.wikidata.org/wiki/Q214932","display_name":"Flight simulator","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.27459999918937683},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2623000144958496},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.2563000023365021},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.08729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08729","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.08729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08729","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Simulation":[0],"plays":[1],"a":[2,26,45,176],"key":[3],"role":[4],"in":[5,148,166],"automated":[6,32,115,122],"robotics":[7],"research":[8],"supported":[9],"by":[10,65],"large":[11],"language":[12],"models":[13],"(LLMs).":[14],"However,":[15],"existing":[16],"simulators":[17,137,189],"often":[18],"require":[19],"custom":[20],"code":[21],"or":[22],"complex":[23],"interfaces,":[24],"creating":[25],"barrier":[27],"to":[28,94,134,144,186],"rapid":[29,52],"prototyping":[30,153],"and":[31,56,80,90,97,120,138,162,184,190],"algorithm":[33],"development.":[34],"To":[35],"this":[36],"end,":[37],"we":[38],"propose":[39],"the":[40,103,160],"Intelligent":[41],"Robot":[42],"Simulator":[43],"(IR-SIM),":[44],"lightweight":[46],"skill-native":[47],"navigation":[48,118,170,182],"simulator":[49],"designed":[50],"for":[51,114,121,127],"scenario":[53],"construction,":[54],"benchmarking,":[55],"robot":[57,72],"learning.":[58],"In":[59],"IR-SIM,":[60],"scenarios":[61,93,110,171],"are":[62],"entirely":[63],"defined":[64],"YAML":[66],"configuration":[67],"files":[68],"that":[69],"specify":[70],"mobile":[71],"kinematics,":[73],"geometric":[74],"collision":[75,177],"checking,":[76],"LiDAR":[77],"sensing,":[78],"visualization,":[79],"behavior":[81],"modules.":[82],"This":[83],"design":[84],"makes":[85],"robotic":[86],"simulation":[87],"fully":[88],"describable":[89],"reproducible,":[91],"allowing":[92,142],"be":[95,112],"generated":[96],"modified":[98],"from":[99,172],"text":[100],"prompts":[101],"through":[102],"proposed":[104],"IR-SIM":[105,131,165],"agent":[106],"skills.":[107],"The":[108,157,194],"resulting":[109],"can":[111],"used":[113],"benchmarking":[116,180],"of":[117,124,164],"algorithms":[119,147],"generation":[123],"training":[125,175],"data":[126],"learning":[128],"methods.":[129],"Furthermore,":[130],"provides":[132],"bridges":[133],"high":[135,187],"fidelity":[136,188],"real":[139,191],"world":[140,192],"deployment,":[141],"users":[143],"validate":[145],"their":[146],"more":[149],"realistic":[150],"settings":[151],"after":[152],"without":[154],"extra":[155],"coding.":[156],"experiments":[158],"showcase":[159],"convenience":[161],"versatility":[163],"multiple":[167],"tasks:":[168],"constructing":[169],"natural":[173],"language,":[174],"avoidance":[178],"policy,":[179],"social":[181],"policies,":[183],"bridging":[185],"deployment.":[193],"project":[195],"website":[196],"is":[197],"available":[198],"at":[199],"https://github.com/hanruihua/ir-sim.":[200]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-10T00:00:00"}