@article{irsimalightweightskillnativesimulatorfor,
  title = {IR-SIM: A Lightweight Skill-Native Simulator for Navigation, Learning, and Benchmarking},
  author = {Ruihua Han and Shuai Wang and Chengyang Li and Rui Gao and Xinyi Wang and Zhe Liu and Guoliang Li and Yupu Lu and Qi Hao and Jia Pan and Hengshuang Zhao},
  year = {2026},
  eprint = {2606.08729},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.08729},
}