{"url":"/dataset/simpler-env","name":"SimplerEnv-Google Robot","full_name":"Evaluating Real-World Robot Manipulation Policies in Simulation","description_markdown":"Significant progress has been made in building generalist robot manipulation policies, yet their scalable and reproducible evaluation remains challenging, as real-world evaluation is operationally expensive and inefficient. We propose employing physical simulators as efficient, scalable, and informative complements to real-world evaluations. These simulation evaluations offer valuable quantitative metrics for checkpoint selection, insights into potential real-world policy behaviors or failure modes, and standardized setups to enhance reproducibility.\r\n\r\nThis repository's code is based in the SAPIEN simulator and the CPU based ManiSkill2 benchmark. We have also integrated the Bridge dataset environments into ManiSkill3, which offers GPU parallelization and can run 10-15x faster than the ManiSkill2 version. For instructions on how to use the GPU parallelized environments and evaluate policies on them, see: https://github.com/simpler-env/SimplerEnv/tree/maniskill3\r\n\r\nThis repository encompasses 2 real-to-sim evaluation setups:\r\n\r\nVisual Matching evaluation: Matching real & sim visual appearances for policy evaluation by overlaying real-world images onto simulation backgrounds and adjusting foreground object and robot textures in simulation.\r\nVariant Aggregation evaluation: creating different sim environment variants (e.g., different backgrounds, lightings, distractors, table textures, etc) and averaging their results.","description_withheld":null,"homepage":"https://simpler-env.github.io/","introduced_date":"2024-05-09","introduced_date_note":null,"introduced_by":{"paper":"/paper/evaluating-real-world-robot-manipulation","title":"Evaluating Real-World Robot Manipulation Policies in Simulation","first_author":"Xuanlin Li","url":null},"license":{"name":"MIT","url":null},"modalities":[],"tasks":[{"name":"Robot Manipulation","url":"/task/robot-manipulation","datasets_with_task":"/datasets/task/robot-manipulation"}],"languages":[],"variants":["SimplerEnv-Google Robot"],"data_loaders":[],"num_papers_in_archive":10,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/robot-manipulation-on-simpler-env","task":"Robot Manipulation","dataset_variant":"SimplerEnv-Google Robot","rows":9,"metrics":["Visual Matching","Visual Matching-Pick Coke Can","Visual Matching-Move Near","Visual Matching-Open/Close Drawer","Variant Aggregation","Variant Aggregation-Pick Coke Can","Variant Aggregation-Move Near","Variant Aggregation-Open/Close Drawer"],"first_row_in_archive_order":{"model":"SoFar","paper":"/paper/sofar-language-grounded-orientation-bridges","metrics":{"Variant Aggregation":"0.676","Variant Aggregation-Move Near":"0.740","Variant Aggregation-Open/Close Drawer":"0.297","Variant Aggregation-Pick Coke Can":"0.907","Visual Matching":"0.749","Visual Matching-Move Near":"0.917","Visual Matching-Open/Close Drawer":"0.403","Visual Matching-Pick Coke Can":"0.923"},"code_links":[{"title":"qizekun/SoFar","url":"https://github.com/qizekun/SoFar"},{"title":"zhangwenyao1/open6dor_v2_execution","url":"https://github.com/zhangwenyao1/open6dor_v2_execution"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/dita-scaling-diffusion-transformer-for","title":"Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy","date":"2025-03-25","rows_on_this_dataset":1,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":3,"samples_ran":2,"samples_unverified":1,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/sofar-language-grounded-orientation-bridges","title":"SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation","date":"2025-02-18","rows_on_this_dataset":1,"code_links":2,"syntology":null},{"paper":"/paper/spatialvla-exploring-spatial-representations","title":"SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model","date":"2025-01-27","rows_on_this_dataset":1,"code_links":0,"syntology":null},{"paper":"/paper/towards-generalist-robot-policies-what","title":"Towards Generalist Robot Policies: What Matters in Building Vision-Language-Action Models","date":"2024-12-18","rows_on_this_dataset":1,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":8,"samples_ran":1,"samples_unverified":7,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/tracevla-visual-trace-prompting-enhances","title":"TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies","date":"2024-12-13","rows_on_this_dataset":1,"code_links":0,"syntology":null},{"paper":"/paper/openvla-an-open-source-vision-language-action","title":"OpenVLA: An Open-Source Vision-Language-Action Model","date":"2024-06-13","rows_on_this_dataset":1,"code_links":3,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":10,"samples_ran":2,"samples_unverified":8,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/octo-an-open-source-generalist-robot-policy","title":"Octo: An Open-Source Generalist Robot Policy","date":"2024-05-20","rows_on_this_dataset":1,"code_links":0,"syntology":null},{"paper":"/paper/rt-2-vision-language-action-models-transfer","title":"RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control","date":"2023-07-28","rows_on_this_dataset":1,"code_links":1,"syntology":null},{"paper":"/paper/rt-1-robotics-transformer-for-real-world","title":"RT-1: Robotics Transformer for Real-World Control at Scale","date":"2022-12-13","rows_on_this_dataset":1,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":4,"samples_ran":0,"samples_unverified":4,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":4,"samples_harvested":25,"samples_ran":5,"samples_unverified":20,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":1,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}