| --- |
| pretty_name: SimCode4D DEV15 |
| language: |
| - en |
| size_categories: |
| - n<1K |
| tags: |
| - robotics |
| - embodied-ai |
| - mujoco |
| - blender |
| - benchmark |
| - 3d |
| configs: |
| - config_name: dev15 |
| data_files: |
| - split: validation |
| path: data/dev15.jsonl |
| --- |
| |
| # SimCode4D DEV15 |
|
|
| SimCode4D is the 15-scene **development benchmark** for [Code2Worlds-2](https://github.com/AIGeeksGroup/Code2Worlds-2). It spans indoor, industrial, natural outdoor, service, and urban worlds (three scenes per domain). The table in Data Studio is a searchable scene index, not a leaderboard or a set of model outputs. |
|
|
| This repository holds **benchmark data**: prompts, 15 portable MuJoCo scene models with required mesh assets, 12 archived Blender authoring projects, and 18 approved scene previews. The benchmark evaluator, submission API, validators, and metric implementations live in the [Code2Worlds-2 GitHub repository](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/benchmark/simcode4d_unified). |
|
|
| ## What is included |
|
|
| | Domain | Scenes | Per-scene preview files | |
| | --- | ---: | --- | |
| | Indoor | 3 | Not published | |
| | Industrial | 3 | Not published | |
| | Natural outdoor | 3 | [NAT-01-rock-kick](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/NAT-01-rock-kick), [NAT-02-hills-turn-stop](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/NAT-02-hills-turn-stop), [NAT-03-water-land](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/NAT-03-water-land) | |
| | Service | 3 | [SER-01-medicine](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/SER-01-medicine), [SER-02-airport-luggage](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/SER-02-airport-luggage), [SER-03-hotel-drawer](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/SER-03-hotel-drawer) | |
| | Urban | 3 | Not published | |
|
|
| Only the natural outdoor and service scenes have published preview images. Each has three frames from an existing Blender animation (start, middle, end). We reviewed offscreen MuJoCo screenshots for the indoor, industrial, and urban scenes and omitted them because the simplified simulation geometry and temporary roof hiding did not represent the appearance of the authored worlds well. Their benchmark data remains available. A missing preview is represented as `null` in the index; it is not evidence that the case is absent. The available images are for visual inspection, not evidence of task success. |
|
|
| | Path | Contents | |
| | --- | --- | |
| | `data/dev15.jsonl` | 15 prompts, domain and task labels, asset paths, and preview paths | |
| | `runtime/simcode4d_dev15_runtime.tar.gz` | Portable scene XML and required mesh assets for all 15 cases | |
| | `blender_sources/<case_id>/scene.blend` | 12 available authoring projects | |
| | `previews/<case_id>/` | Three approved Blender animation frames for six natural outdoor and service scenes | |
| | `THIRD_PARTY_NOTICES.md` | Asset provenance and third-party notices | |
|
|
| The original `.blend` sources for **IND-01**, **IND-02**, and **IND-03** were not archived in the available benchmark handover. IND-01 and IND-02 point to the same missing pre-Module-1 source; IND-03 points to a separate missing source. Their compiled MuJoCo worlds are included. The index marks these three records as `not_archived`; a different Blender scene is not substituted for them. |
|
|
| ## Download |
|
|
| For the lightweight scene index, previews, and portable runtime: |
|
|
| ```bash |
| hf download AIGeeksGroup/SimCode4D --repo-type dataset \ |
| --include "data/*" --include "previews/*" --include "runtime/*" \ |
| --local-dir SimCode4D |
| tar -xzf SimCode4D/runtime/simcode4d_dev15_runtime.tar.gz -C SimCode4D |
| ``` |
|
|
| The `runtime_model` field in each `data/dev15.jsonl` row points to a MuJoCo XML inside the extracted archive. For example: |
|
|
| ```python |
| import mujoco |
| model = mujoco.MjModel.from_xml_path( |
| "SimCode4D/benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml" |
| ) |
| print(model.ngeom) |
| ``` |
|
|
| Download a Blender project separately when needed: |
|
|
| ```bash |
| hf download AIGeeksGroup/SimCode4D blender_sources/INS-01-agv-aisle/scene.blend \ |
| --repo-type dataset --local-dir SimCode4D |
| ``` |
|
|
| Opening authoring projects may require Blender and the original scene-generation dependencies. The MuJoCo runtime archive is the portable path for inspecting and executing the benchmark worlds. |
|
|
| ## Evaluation |
|
|
| Use the [GitHub benchmark guide](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/benchmark/simcode4d_unified) to run the reference integrity check or score a generated world. It defines WorldBuildPass@1, TaskOverlayPass@1, entity binding F1, task success, mechanics, kinematics, contact/friction, safety, and robust task success. The GitHub release retains the frozen verification metadata needed for reproducible scoring; this data repository presents the scenes and their previews without repeating those metadata tables or shipping a second evaluator. |
|
|
| The split is **development/validation**, not an unseen test set. The reference matrix checks benchmark self-consistency; it is not a Code2Worlds-2 method score. |
|
|
| ## Provenance and use |
|
|
| The portable runtime data comes from the public Code2Worlds-2 development suite. The Blender projects are the files named in that suite's source records; all 12 available files were checked against the source records before upload. Third-party model notices are in [`THIRD_PARTY_NOTICES.md`](THIRD_PARTY_NOTICES.md). No repository-wide license is asserted here; review the notices and the applicable project terms before reuse. |
|
|
