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GE-Sim 2.0 and π0.5 closed-loop simulation test: Why does reward hacking occur in VLA training?

The Xbotics Embodied Intelligence Lab built a closed-loop simulation pipeline using the AgiBot GE-Sim 2.0 world model and the OpenPI π0.5 policy. In testing, the world model generated about 4.33 frames per second, the pure-policy closed loop ran at about 3.20 frames per second, and after adding MiMo online scoring, the rate dropped to about 0.88 frames per second.

Part of the event: GE-Sim 2.0 Closed-Loop Simulation Evaluation of the π0.5 Policy

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