RLBench

Normalizer

RLBench — metrics, requirements, and run commands.

Last updated: Jul 11, 2026

On this page

About Metrics Task YAML Primary Environment setup Runtime environment Evaluation data Checkpoints & assets Key environment variables Verify setup Run Evaluation Set Candidate Artifacts Import Official Results Score Generated Artifacts Direct In-Tree Runner Requirements Inputs Environment Outputs

About

RLBench external benchmark task manifest for CoppeliaSim/PyRep robot manipulation rollouts.

Metrics

RLBench external benchmark task manifest for CoppeliaSim/PyRep robot manipulation rollouts.

Task YAML

worldfoundry/data/benchmarks/tasks/external/rlbench.yaml

Primary

success_rate

Metric	Focus
`success_rate`	Share of episodes or tasks that complete successfully.
`task_success`	Share of episodes or tasks that complete successfully.
`episode_success`	Share of episodes or tasks that complete successfully.
`reward`	Sparse or shaped reward accumulated over RLBench tabletop manipulation episode horizons.
`normalized_return`	RLBench return normalized to [0, 1] against demonstration or success benchmarks.

Environment setup

Runtime environment

Conda env: needs-rlbench-pyrep-coppeliasim-env.
Separate setup: this benchmark expects a dedicated conda env rather than the unified runtime.
RLBench 需要 CoppeliaSim/PyRep 组合环境；当前只记录 env vars 和 task manifest，不启动 simulator。

Evaluation data

RLBench is simulator-backed; WorldFoundry normalizes policy rollout results while CoppeliaSim/PyRep execution remains explicit.
Candidate model outputs: set WORLDFOUNDRY_RLBENCH_RESULTS_PATH to the generated-video or rollout artifact root.

Checkpoints & assets

This benchmark is primarily rollout- or official-result-driven; see catalog requires and the task YAML for policy/simulator checkpoints.

Key environment variables

WORLDFOUNDRY_RLBENCH_ROOT
COPPELIASIM_ROOT
WORLDFOUNDRY_RLBENCH_RESULTS_PATH

Verify setup

PYTHONPATH=. ${WORLDFOUNDRY_CONDA_ROOT}/worldplay/bin/python -m worldfoundry.evaluation.tasks.execution.orchestration.runtime_preflight --profile rlbench --manifest worldfoundry/data/benchmarks/runtime_profiles/official/rlbench.yaml --output-dir tmp/worldfoundry_preflight/rlbench --json

Run Evaluation

After preparing the assets and candidate artifacts listed on this page, use the public run entry points below.

Set Candidate Artifacts

export WORLDFOUNDRY_GENERATED_ARTIFACT_DIR=/path/to/generated/artifacts

Import Official Results

worldfoundry-eval zoo benchmark-run \
  --benchmark-id rlbench \
  --mode normalizer \
  --official-results-path /path/to/official/results-or-report \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/rlbench/normalizer \
  --json

Score Generated Artifacts

worldfoundry-eval zoo benchmark-run \
  --benchmark-id rlbench \
  --mode official-run \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/rlbench/official-run \
  --json

Direct In-Tree Runner

worldfoundry-eval zoo benchmark-run --benchmark-id rlbench --mode official-validation --official-results-path <official_results.json> --output-dir <out> --json