SimplerEnv

Normalizer

SimplerEnv — 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

SimplerEnv provides simulation-based embodied evaluation for real-to-sim policy testing and task-success mapping.

Metrics

SimplerEnv external benchmark task manifest for simulator-backed VLA policy rollouts.

Task YAML

worldfoundry/data/benchmarks/tasks/external/simpler-env.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`	Real-to-sim bridge reward on SimplerEnv visual-matching manipulation evaluation episodes.

Environment setup

Runtime environment

Conda env: giga-world-policy-py311.
Separate setup: defaults to the unified WorldFoundry env (needs_new_env: false); a benchmark-only conda env is usually not required.
SimplerEnv source/runtime import 可见；完整状态需要 embodiment assets、policy wrapper 和 rollout 结果。

Evaluation data

SimplerEnv evaluates policy rollouts in simulator; generated result files and rollout logs are normalized by WorldFoundry.
Candidate model outputs: set WORLDFOUNDRY_SIMPLERENV_RESULTS_PATH to the generated-video or rollout artifact root.
${WORLDFOUNDRY_CACHE_DIR}/repos/simpler-env--SimplerEnv

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_SIMPLERENV_ROOT
WORLDFOUNDRY_SIMPLERENV_RESULTS_PATH

Verify setup

PYTHONPATH=${WORLDFOUNDRY_CACHE_DIR}/repos/simpler-env--SimplerEnv:src ${WORLDFOUNDRY_CONDA_ENVS_ROOT}/worldfoundry-giga-world-policy-py311/bin/python -m worldfoundry.evaluation.tasks.execution.orchestration.runtime_preflight --profile simpler-env --manifest worldfoundry/data/benchmarks/runtime_profiles/official/simpler-env.yaml --output-dir tmp/worldfoundry_preflight/simpler-env --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 simpler-env \
  --mode normalizer \
  --official-results-path /path/to/official/results-or-report \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/simpler-env/normalizer \
  --json

Score Generated Artifacts

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

Direct In-Tree Runner

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