---
title: SimplerEnv
description: "Real-to-sim evaluation of real-robot policies (SIMPLER). Google Robot and WidowX/Bridge scenes; WorldFoundry imports official rollouts."
---

SimplerEnv (SIMPLER — Simulated Manipulation Policy Evaluation for Real Robot Setups) is a **real-to-sim** bench from UC San Diego and Google DeepMind (with Stanford and UC Berkeley). ManiSkill2 / SAPIEN scenes are calibrated so that policies such as **RT-1**, **RT-1-X**, and **Octo** rank in simulation the way they rank on the corresponding **Google Robot** and **WidowX / Bridge** real setups. The point of the suite is that correlation, not a new kitchen asset pack.

Paper: [OpenReview](https://openreview.net/forum?id=LZh48DTg71). Project: [simpler-env.github.io](https://simpler-env.github.io/). Code: [simpler-env/SimplerEnv](https://github.com/simpler-env/SimplerEnv) (MIT).

WorldFoundry **does not run** those scenes. It normalizes official rollout exports into the scorecard. Upstream rollouts still need the ManiSkill2/SAPIEN stack and the embodiment assets. Repo mirror: `cache/vla_va_wam/repos/simpler-env--SimplerEnv`.

<BenchmarkPageSections id="simpler-env" locale="en" />

## How to run

```bash
worldfoundry-eval zoo benchmark-run \
  --benchmark-id simpler-env \
  --mode official-validation \
  --official-results-path <official_results.json> \
  --output-dir tmp/simpler-env/official-validation \
  --json
```

Default import path: `WORLDFOUNDRY_SIMPLERENV_RESULTS_PATH`. Manifest: `worldfoundry/data/benchmarks/tasks/external/simpler-env.yaml`. Outputs: `scorecard.json` (primary `success_rate`) and `raw_results.jsonl`.

[← Benchmark Hub](/docs/evaluation/benchmark-hub)