{"url":"/dataset/simplerenv-widow-x","name":"SimplerEnv-Widow X","full_name":"SimplerEnv: Simulated Manipulation Policy Evaluation Environments for Real Robot Setups","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.\r\nWe hope that our work guides and inspires future real-to-sim evaluation efforts.","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-Widow X"],"data_loaders":[],"num_papers_in_archive":8,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/robot-manipulation-on-simplerenv-widow-x","task":"Robot Manipulation","dataset_variant":"SimplerEnv-Widow X","rows":7,"metrics":["Average","Put Spoon on Towel","Put Carrot on Plate","Stack Green Block on Yellow Block","Put Eggplant  in Yellow Basket","Put Eggplant in Yellow Basket"],"first_row_in_archive_order":{"model":"SoFar","paper":"/paper/sofar-language-grounded-orientation-bridges","metrics":{"Average":"0.583","Put Carrot on Plate":"0.667","Put Eggplant in Yellow Basket":"0.375","Put Spoon on Towel":"0.583","Stack Green Block on Yellow Block":"0.708"},"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/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/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":2,"code_links":0,"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":3,"samples_harvested":22,"samples_ran":3,"samples_unverified":19,"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."}