Right, the ground truth is the existing human labor - and yes, run sims at scale makes sense, but if you don't build and model using the real world you'll rapidly get a solution that only shows the sims errors in modeling the world. All the best robots I've seen run sims, but very narrowly and with a well defined problem to refine via a well designed model.

Offer stands to help you, but given the deadline for the next batch is days away, you would need to let me know as soon as possible via a comment, then I'd contact you via email.