SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation

Humanoid foundation models are advancing faster than we can evaluate them. While real-world testing is expensive and difficult to reproduce, existing simulation benchmarks focus primarily on table-top or wheeled robots. A scalable and reproducible benchmark for whole-body humanoid loco-manipulation remains an open problem. To this end, we present SIMPLE, a unified simulation testbed for humanoid policy learning and evaluation. SIMPLE couples the accurate contact-rich dynamics of MuJoCo with the photorealistic rendering of IsaacSim. It provides a large-scale environment comprising 60 diverse whole-body tasks, 50 indoor scenes, and over 1,000 object assets. To facilitate scalable data collection, the framework integrates two data generation pipelines: automated trajectory generation via motion planning and a low-latency VR teleoperation interface. We further integrate and benchmark mainstream humanoid policies at scale in SIMPLE, including lightweight imitation networks, large vision-language-action (VLA) models, and recent world action models (WAMs). Our experiments reveal a strong correlation between policy performance in simulation and the real world. Furthermore, we demonstrate that policies trained on data collected in SIMPLE can be transferred zero-shot to physical humanoid robots under similar settings, providing a robust and reproducible foundation for humanoid robotics research.

MetRoBERTa: Leveraging Traditional Customer Relationship Management Data to Develop a Transit-Topic-Aware Language Model

Transit riders' feedback provided in ridership surveys, customer relationship management (CRM) channels, and in more recent times, through social media is key for transit agencies to better gauge the efficacy of their services and initiatives. Getting a holistic understanding of riders' experience through the feedback shared in those instruments is often challenging, mostly due to the open-ended, unstructured nature of text feedback. In this paper, we propose leveraging traditional transit CRM feedback to develop and deploy a transit-topic-aware large language model (LLM) capable of classifying open-ended text feedback to relevant transit-specific topics. First, we utilize semi-supervised learning to engineer a training dataset of 11 broad transit topics detected in a corpus of 6 years of customer feedback provided to the Washington Metropolitan Area Transit Authority (WMATA). We then use this dataset to train and thoroughly evaluate a language model based on the RoBERTa architecture. We compare our LLM, MetRoBERTa, to classical machine learning approaches utilizing keyword-based and lexicon representations. Our model outperforms those methods across all evaluation metrics, providing an average topic classification accuracy of 90%. Finally, we provide a value proposition of this work demonstrating how the language model, alongside additional text processing tools, can be applied to add structure to open-ended text sources of feedback like Twitter. The framework and results we present provide a pathway for an automated, generalizable approach for ingesting, visualizing, and reporting transit riders' feedback at scale, enabling agencies to better understand and improve customer experience.