metadata
language:
- en
license: mit
license_link: >-
https://huggingface.co/datasets/hcltech-robotics/simreadybench/blob/main/NVIDIA-ASSET-LICENSE.txt
pretty_name: SimReadyBench
thumbnail: >-
https://huggingface.co/datasets/hcltech-robotics/simreadybench/resolve/main/media/social-card.png
authors:
- name: Chris von Csefalvay
affiliation: HCLTech
- name: Pranav Doma
affiliation: HCLTech
- name: Achyuthan Unni Krishnan
affiliation: HCLTech
- name: Tamas Foldi
affiliation: HCLTech
configs:
- config_name: all
default: true
data_files:
- split: test
path:
- viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet
- viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet
features:
- name: reference_image
dtype: image
- name: candidate_image
dtype: image
- name: capture_view
dtype: string
- name: condition_id
dtype: string
- name: asset_id
dtype: string
- name: requested_model
dtype: string
- name: harness_id
dtype: string
- name: skill_set_id
dtype: string
- name: repetition
dtype: int64
- name: status
dtype: string
- name: formal_fidelity_percent
dtype: float64
- name: visual_fidelity_percent
dtype: float64
- name: kinematic_fidelity_percent
dtype: float64
- name: simready_reward
dtype: float64
- name: mandatory_passed
dtype: float64
- name: mandatory_total
dtype: float64
- name: mandatory_failed
dtype: float64
- name: mandatory_unknown
dtype: float64
- name: mandatory_lower_bound_percent
dtype: float64
- name: mandatory_upper_bound_percent
dtype: float64
- name: completion_bonus
dtype: float64
- name: optional_score_percent
dtype: float64
- name: optional_passed
dtype: float64
- name: optional_failed
dtype: float64
- name: optional_unknown
dtype: float64
- name: optional_total
dtype: float64
- name: optional_measured
dtype: float64
- name: optional_coverage
dtype: float64
- name: optional_lower_bound_percent
dtype: float64
- name: optional_upper_bound_percent
dtype: float64
- name: fidelity_shape_percent
dtype: float64
- name: fidelity_rigid_parts_percent
dtype: float64
- name: fidelity_joints_percent
dtype: float64
- name: fidelity_materials_percent
dtype: float64
- name: fidelity_shape_coverage
dtype: float64
- name: fidelity_rigid_parts_coverage
dtype: float64
- name: fidelity_joints_coverage
dtype: float64
- name: fidelity_materials_coverage
dtype: float64
- name: fidelity_reference_geometry_status
dtype: string
- name: formal_fidelity_status
dtype: string
- name: formal_fidelity_earned
dtype: float64
- name: formal_fidelity_eligible
dtype: float64
- name: formal_fidelity_measured
dtype: float64
- name: formal_fidelity_coverage
dtype: float64
- name: formal_fidelity_lower_bound_percent
dtype: float64
- name: formal_fidelity_upper_bound_percent
dtype: float64
- name: visual_fidelity_status
dtype: string
- name: visual_fidelity_earned
dtype: float64
- name: visual_fidelity_eligible
dtype: float64
- name: visual_fidelity_measured
dtype: float64
- name: visual_fidelity_coverage
dtype: float64
- name: visual_fidelity_lower_bound_percent
dtype: float64
- name: visual_fidelity_upper_bound_percent
dtype: float64
- name: kinematic_fidelity_status
dtype: string
- name: kinematic_fidelity_earned
dtype: float64
- name: kinematic_fidelity_eligible
dtype: float64
- name: kinematic_fidelity_measured
dtype: float64
- name: kinematic_fidelity_coverage
dtype: float64
- name: kinematic_fidelity_lower_bound_percent
dtype: float64
- name: kinematic_fidelity_upper_bound_percent
dtype: float64
- name: visual_appearance_percent
dtype: float64
- name: visual_appearance_status
dtype: string
- name: visual_appearance_earned
dtype: float64
- name: visual_appearance_eligible
dtype: float64
- name: visual_appearance_measured
dtype: float64
- name: visual_appearance_coverage
dtype: float64
- name: visual_appearance_lower_bound_percent
dtype: float64
- name: visual_appearance_upper_bound_percent
dtype: float64
- name: kinematic_reference_joint_count
dtype: float64
- name: kinematic_candidate_joint_count
dtype: float64
- name: kinematic_matched_joint_count
dtype: float64
- name: kinematic_missing_joint_count
dtype: float64
- name: kinematic_extra_joint_count
dtype: float64
- name: kinematic_moving_joints_percent
dtype: float64
- name: kinematic_moving_joints_status
dtype: string
- name: kinematic_moving_joints_earned
dtype: float64
- name: kinematic_moving_joints_eligible
dtype: float64
- name: kinematic_moving_joints_measured
dtype: float64
- name: kinematic_moving_joints_coverage
dtype: float64
- name: kinematic_moving_joints_lower_bound_percent
dtype: float64
- name: kinematic_moving_joints_upper_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_percent
dtype: float64
- name: kinematic_fixed_constraints_status
dtype: string
- name: kinematic_fixed_constraints_earned
dtype: float64
- name: kinematic_fixed_constraints_eligible
dtype: float64
- name: kinematic_fixed_constraints_measured
dtype: float64
- name: kinematic_fixed_constraints_coverage
dtype: float64
- name: kinematic_fixed_constraints_lower_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_upper_bound_percent
dtype: float64
- name: fidelity_shape_earned
dtype: float64
- name: fidelity_shape_eligible
dtype: float64
- name: fidelity_shape_measured
dtype: float64
- name: fidelity_shape_status
dtype: string
- name: fidelity_rigid_parts_earned
dtype: float64
- name: fidelity_rigid_parts_eligible
dtype: float64
- name: fidelity_rigid_parts_measured
dtype: float64
- name: fidelity_rigid_parts_status
dtype: string
- name: fidelity_joints_earned
dtype: float64
- name: fidelity_joints_eligible
dtype: float64
- name: fidelity_joints_measured
dtype: float64
- name: fidelity_joints_status
dtype: string
- name: fidelity_materials_earned
dtype: float64
- name: fidelity_materials_eligible
dtype: float64
- name: fidelity_materials_measured
dtype: float64
- name: fidelity_materials_status
dtype: string
- name: fidelity_shape_precision
dtype: float64
- name: fidelity_shape_recall
dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
- name: fidelity_joints_candidate_count
dtype: float64
- name: inference_calls_used
dtype: float64
- name: validation_calls_used
dtype: float64
- name: model_request_errors
dtype: float64
- name: elapsed_seconds
dtype: float64
- name: model_request_seconds
dtype: float64
- name: input_tokens
dtype: float64
- name: output_tokens
dtype: float64
- name: total_tokens
dtype: float64
- name: inference_cost_usd
dtype: float64
- name: compute_cost_usd
dtype: float64
- name: total_cost_usd
dtype: float64
- config_name: by_model
features:
- name: reference_image
dtype: image
- name: candidate_image
dtype: image
- name: capture_view
dtype: string
- name: condition_id
dtype: string
- name: asset_id
dtype: string
- name: requested_model
dtype: string
- name: harness_id
dtype: string
- name: skill_set_id
dtype: string
- name: repetition
dtype: int64
- name: status
dtype: string
- name: formal_fidelity_percent
dtype: float64
- name: visual_fidelity_percent
dtype: float64
- name: kinematic_fidelity_percent
dtype: float64
- name: simready_reward
dtype: float64
- name: mandatory_passed
dtype: float64
- name: mandatory_total
dtype: float64
- name: mandatory_failed
dtype: float64
- name: mandatory_unknown
dtype: float64
- name: mandatory_lower_bound_percent
dtype: float64
- name: mandatory_upper_bound_percent
dtype: float64
- name: completion_bonus
dtype: float64
- name: optional_score_percent
dtype: float64
- name: optional_passed
dtype: float64
- name: optional_failed
dtype: float64
- name: optional_unknown
dtype: float64
- name: optional_total
dtype: float64
- name: optional_measured
dtype: float64
- name: optional_coverage
dtype: float64
- name: optional_lower_bound_percent
dtype: float64
- name: optional_upper_bound_percent
dtype: float64
- name: fidelity_shape_percent
dtype: float64
- name: fidelity_rigid_parts_percent
dtype: float64
- name: fidelity_joints_percent
dtype: float64
- name: fidelity_materials_percent
dtype: float64
- name: fidelity_shape_coverage
dtype: float64
- name: fidelity_rigid_parts_coverage
dtype: float64
- name: fidelity_joints_coverage
dtype: float64
- name: fidelity_materials_coverage
dtype: float64
- name: fidelity_reference_geometry_status
dtype: string
- name: formal_fidelity_status
dtype: string
- name: formal_fidelity_earned
dtype: float64
- name: formal_fidelity_eligible
dtype: float64
- name: formal_fidelity_measured
dtype: float64
- name: formal_fidelity_coverage
dtype: float64
- name: formal_fidelity_lower_bound_percent
dtype: float64
- name: formal_fidelity_upper_bound_percent
dtype: float64
- name: visual_fidelity_status
dtype: string
- name: visual_fidelity_earned
dtype: float64
- name: visual_fidelity_eligible
dtype: float64
- name: visual_fidelity_measured
dtype: float64
- name: visual_fidelity_coverage
dtype: float64
- name: visual_fidelity_lower_bound_percent
dtype: float64
- name: visual_fidelity_upper_bound_percent
dtype: float64
- name: kinematic_fidelity_status
dtype: string
- name: kinematic_fidelity_earned
dtype: float64
- name: kinematic_fidelity_eligible
dtype: float64
- name: kinematic_fidelity_measured
dtype: float64
- name: kinematic_fidelity_coverage
dtype: float64
- name: kinematic_fidelity_lower_bound_percent
dtype: float64
- name: kinematic_fidelity_upper_bound_percent
dtype: float64
- name: visual_appearance_percent
dtype: float64
- name: visual_appearance_status
dtype: string
- name: visual_appearance_earned
dtype: float64
- name: visual_appearance_eligible
dtype: float64
- name: visual_appearance_measured
dtype: float64
- name: visual_appearance_coverage
dtype: float64
- name: visual_appearance_lower_bound_percent
dtype: float64
- name: visual_appearance_upper_bound_percent
dtype: float64
- name: kinematic_reference_joint_count
dtype: float64
- name: kinematic_candidate_joint_count
dtype: float64
- name: kinematic_matched_joint_count
dtype: float64
- name: kinematic_missing_joint_count
dtype: float64
- name: kinematic_extra_joint_count
dtype: float64
- name: kinematic_moving_joints_percent
dtype: float64
- name: kinematic_moving_joints_status
dtype: string
- name: kinematic_moving_joints_earned
dtype: float64
- name: kinematic_moving_joints_eligible
dtype: float64
- name: kinematic_moving_joints_measured
dtype: float64
- name: kinematic_moving_joints_coverage
dtype: float64
- name: kinematic_moving_joints_lower_bound_percent
dtype: float64
- name: kinematic_moving_joints_upper_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_percent
dtype: float64
- name: kinematic_fixed_constraints_status
dtype: string
- name: kinematic_fixed_constraints_earned
dtype: float64
- name: kinematic_fixed_constraints_eligible
dtype: float64
- name: kinematic_fixed_constraints_measured
dtype: float64
- name: kinematic_fixed_constraints_coverage
dtype: float64
- name: kinematic_fixed_constraints_lower_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_upper_bound_percent
dtype: float64
- name: fidelity_shape_earned
dtype: float64
- name: fidelity_shape_eligible
dtype: float64
- name: fidelity_shape_measured
dtype: float64
- name: fidelity_shape_status
dtype: string
- name: fidelity_rigid_parts_earned
dtype: float64
- name: fidelity_rigid_parts_eligible
dtype: float64
- name: fidelity_rigid_parts_measured
dtype: float64
- name: fidelity_rigid_parts_status
dtype: string
- name: fidelity_joints_earned
dtype: float64
- name: fidelity_joints_eligible
dtype: float64
- name: fidelity_joints_measured
dtype: float64
- name: fidelity_joints_status
dtype: string
- name: fidelity_materials_earned
dtype: float64
- name: fidelity_materials_eligible
dtype: float64
- name: fidelity_materials_measured
dtype: float64
- name: fidelity_materials_status
dtype: string
- name: fidelity_shape_precision
dtype: float64
- name: fidelity_shape_recall
dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
- name: fidelity_joints_candidate_count
dtype: float64
- name: inference_calls_used
dtype: float64
- name: validation_calls_used
dtype: float64
- name: model_request_errors
dtype: float64
- name: elapsed_seconds
dtype: float64
- name: model_request_seconds
dtype: float64
- name: input_tokens
dtype: float64
- name: output_tokens
dtype: float64
- name: total_tokens
dtype: float64
- name: inference_cost_usd
dtype: float64
- name: compute_cost_usd
dtype: float64
- name: total_cost_usd
dtype: float64
data_files:
- split: gpt_6_1_sol
path:
- viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet
- split: qwen_qwen3_8_27b_deepinfra
path:
- viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet
- config_name: by_harness
features:
- name: reference_image
dtype: image
- name: candidate_image
dtype: image
- name: capture_view
dtype: string
- name: condition_id
dtype: string
- name: asset_id
dtype: string
- name: requested_model
dtype: string
- name: harness_id
dtype: string
- name: skill_set_id
dtype: string
- name: repetition
dtype: int64
- name: status
dtype: string
- name: formal_fidelity_percent
dtype: float64
- name: visual_fidelity_percent
dtype: float64
- name: kinematic_fidelity_percent
dtype: float64
- name: simready_reward
dtype: float64
- name: mandatory_passed
dtype: float64
- name: mandatory_total
dtype: float64
- name: mandatory_failed
dtype: float64
- name: mandatory_unknown
dtype: float64
- name: mandatory_lower_bound_percent
dtype: float64
- name: mandatory_upper_bound_percent
dtype: float64
- name: completion_bonus
dtype: float64
- name: optional_score_percent
dtype: float64
- name: optional_passed
dtype: float64
- name: optional_failed
dtype: float64
- name: optional_unknown
dtype: float64
- name: optional_total
dtype: float64
- name: optional_measured
dtype: float64
- name: optional_coverage
dtype: float64
- name: optional_lower_bound_percent
dtype: float64
- name: optional_upper_bound_percent
dtype: float64
- name: fidelity_shape_percent
dtype: float64
- name: fidelity_rigid_parts_percent
dtype: float64
- name: fidelity_joints_percent
dtype: float64
- name: fidelity_materials_percent
dtype: float64
- name: fidelity_shape_coverage
dtype: float64
- name: fidelity_rigid_parts_coverage
dtype: float64
- name: fidelity_joints_coverage
dtype: float64
- name: fidelity_materials_coverage
dtype: float64
- name: fidelity_reference_geometry_status
dtype: string
- name: formal_fidelity_status
dtype: string
- name: formal_fidelity_earned
dtype: float64
- name: formal_fidelity_eligible
dtype: float64
- name: formal_fidelity_measured
dtype: float64
- name: formal_fidelity_coverage
dtype: float64
- name: formal_fidelity_lower_bound_percent
dtype: float64
- name: formal_fidelity_upper_bound_percent
dtype: float64
- name: visual_fidelity_status
dtype: string
- name: visual_fidelity_earned
dtype: float64
- name: visual_fidelity_eligible
dtype: float64
- name: visual_fidelity_measured
dtype: float64
- name: visual_fidelity_coverage
dtype: float64
- name: visual_fidelity_lower_bound_percent
dtype: float64
- name: visual_fidelity_upper_bound_percent
dtype: float64
- name: kinematic_fidelity_status
dtype: string
- name: kinematic_fidelity_earned
dtype: float64
- name: kinematic_fidelity_eligible
dtype: float64
- name: kinematic_fidelity_measured
dtype: float64
- name: kinematic_fidelity_coverage
dtype: float64
- name: kinematic_fidelity_lower_bound_percent
dtype: float64
- name: kinematic_fidelity_upper_bound_percent
dtype: float64
- name: visual_appearance_percent
dtype: float64
- name: visual_appearance_status
dtype: string
- name: visual_appearance_earned
dtype: float64
- name: visual_appearance_eligible
dtype: float64
- name: visual_appearance_measured
dtype: float64
- name: visual_appearance_coverage
dtype: float64
- name: visual_appearance_lower_bound_percent
dtype: float64
- name: visual_appearance_upper_bound_percent
dtype: float64
- name: kinematic_reference_joint_count
dtype: float64
- name: kinematic_candidate_joint_count
dtype: float64
- name: kinematic_matched_joint_count
dtype: float64
- name: kinematic_missing_joint_count
dtype: float64
- name: kinematic_extra_joint_count
dtype: float64
- name: kinematic_moving_joints_percent
dtype: float64
- name: kinematic_moving_joints_status
dtype: string
- name: kinematic_moving_joints_earned
dtype: float64
- name: kinematic_moving_joints_eligible
dtype: float64
- name: kinematic_moving_joints_measured
dtype: float64
- name: kinematic_moving_joints_coverage
dtype: float64
- name: kinematic_moving_joints_lower_bound_percent
dtype: float64
- name: kinematic_moving_joints_upper_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_percent
dtype: float64
- name: kinematic_fixed_constraints_status
dtype: string
- name: kinematic_fixed_constraints_earned
dtype: float64
- name: kinematic_fixed_constraints_eligible
dtype: float64
- name: kinematic_fixed_constraints_measured
dtype: float64
- name: kinematic_fixed_constraints_coverage
dtype: float64
- name: kinematic_fixed_constraints_lower_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_upper_bound_percent
dtype: float64
- name: fidelity_shape_earned
dtype: float64
- name: fidelity_shape_eligible
dtype: float64
- name: fidelity_shape_measured
dtype: float64
- name: fidelity_shape_status
dtype: string
- name: fidelity_rigid_parts_earned
dtype: float64
- name: fidelity_rigid_parts_eligible
dtype: float64
- name: fidelity_rigid_parts_measured
dtype: float64
- name: fidelity_rigid_parts_status
dtype: string
- name: fidelity_joints_earned
dtype: float64
- name: fidelity_joints_eligible
dtype: float64
- name: fidelity_joints_measured
dtype: float64
- name: fidelity_joints_status
dtype: string
- name: fidelity_materials_earned
dtype: float64
- name: fidelity_materials_eligible
dtype: float64
- name: fidelity_materials_measured
dtype: float64
- name: fidelity_materials_status
dtype: string
- name: fidelity_shape_precision
dtype: float64
- name: fidelity_shape_recall
dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
- name: fidelity_joints_candidate_count
dtype: float64
- name: inference_calls_used
dtype: float64
- name: validation_calls_used
dtype: float64
- name: model_request_errors
dtype: float64
- name: elapsed_seconds
dtype: float64
- name: model_request_seconds
dtype: float64
- name: input_tokens
dtype: float64
- name: output_tokens
dtype: float64
- name: total_tokens
dtype: float64
- name: inference_cost_usd
dtype: float64
- name: compute_cost_usd
dtype: float64
- name: total_cost_usd
dtype: float64
data_files:
- split: pi
path:
- viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet
- viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet
- config_name: by_skills
features:
- name: reference_image
dtype: image
- name: candidate_image
dtype: image
- name: capture_view
dtype: string
- name: condition_id
dtype: string
- name: asset_id
dtype: string
- name: requested_model
dtype: string
- name: harness_id
dtype: string
- name: skill_set_id
dtype: string
- name: repetition
dtype: int64
- name: status
dtype: string
- name: formal_fidelity_percent
dtype: float64
- name: visual_fidelity_percent
dtype: float64
- name: kinematic_fidelity_percent
dtype: float64
- name: simready_reward
dtype: float64
- name: mandatory_passed
dtype: float64
- name: mandatory_total
dtype: float64
- name: mandatory_failed
dtype: float64
- name: mandatory_unknown
dtype: float64
- name: mandatory_lower_bound_percent
dtype: float64
- name: mandatory_upper_bound_percent
dtype: float64
- name: completion_bonus
dtype: float64
- name: optional_score_percent
dtype: float64
- name: optional_passed
dtype: float64
- name: optional_failed
dtype: float64
- name: optional_unknown
dtype: float64
- name: optional_total
dtype: float64
- name: optional_measured
dtype: float64
- name: optional_coverage
dtype: float64
- name: optional_lower_bound_percent
dtype: float64
- name: optional_upper_bound_percent
dtype: float64
- name: fidelity_shape_percent
dtype: float64
- name: fidelity_rigid_parts_percent
dtype: float64
- name: fidelity_joints_percent
dtype: float64
- name: fidelity_materials_percent
dtype: float64
- name: fidelity_shape_coverage
dtype: float64
- name: fidelity_rigid_parts_coverage
dtype: float64
- name: fidelity_joints_coverage
dtype: float64
- name: fidelity_materials_coverage
dtype: float64
- name: fidelity_reference_geometry_status
dtype: string
- name: formal_fidelity_status
dtype: string
- name: formal_fidelity_earned
dtype: float64
- name: formal_fidelity_eligible
dtype: float64
- name: formal_fidelity_measured
dtype: float64
- name: formal_fidelity_coverage
dtype: float64
- name: formal_fidelity_lower_bound_percent
dtype: float64
- name: formal_fidelity_upper_bound_percent
dtype: float64
- name: visual_fidelity_status
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- name: visual_fidelity_measured
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- name: visual_fidelity_coverage
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- name: visual_fidelity_lower_bound_percent
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- name: visual_fidelity_upper_bound_percent
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- name: kinematic_fidelity_earned
dtype: float64
- name: kinematic_fidelity_eligible
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- name: kinematic_fidelity_measured
dtype: float64
- name: kinematic_fidelity_coverage
dtype: float64
- name: kinematic_fidelity_lower_bound_percent
dtype: float64
- name: kinematic_fidelity_upper_bound_percent
dtype: float64
- name: visual_appearance_percent
dtype: float64
- name: visual_appearance_status
dtype: string
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- name: visual_appearance_eligible
dtype: float64
- name: visual_appearance_measured
dtype: float64
- name: visual_appearance_coverage
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- name: visual_appearance_lower_bound_percent
dtype: float64
- name: visual_appearance_upper_bound_percent
dtype: float64
- name: kinematic_reference_joint_count
dtype: float64
- name: kinematic_candidate_joint_count
dtype: float64
- name: kinematic_matched_joint_count
dtype: float64
- name: kinematic_missing_joint_count
dtype: float64
- name: kinematic_extra_joint_count
dtype: float64
- name: kinematic_moving_joints_percent
dtype: float64
- name: kinematic_moving_joints_status
dtype: string
- name: kinematic_moving_joints_earned
dtype: float64
- name: kinematic_moving_joints_eligible
dtype: float64
- name: kinematic_moving_joints_measured
dtype: float64
- name: kinematic_moving_joints_coverage
dtype: float64
- name: kinematic_moving_joints_lower_bound_percent
dtype: float64
- name: kinematic_moving_joints_upper_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_percent
dtype: float64
- name: kinematic_fixed_constraints_status
dtype: string
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dtype: float64
- name: kinematic_fixed_constraints_eligible
dtype: float64
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dtype: float64
- name: kinematic_fixed_constraints_coverage
dtype: float64
- name: kinematic_fixed_constraints_lower_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_upper_bound_percent
dtype: float64
- name: fidelity_shape_earned
dtype: float64
- name: fidelity_shape_eligible
dtype: float64
- name: fidelity_shape_measured
dtype: float64
- name: fidelity_shape_status
dtype: string
- name: fidelity_rigid_parts_earned
dtype: float64
- name: fidelity_rigid_parts_eligible
dtype: float64
- name: fidelity_rigid_parts_measured
dtype: float64
- name: fidelity_rigid_parts_status
dtype: string
- name: fidelity_joints_earned
dtype: float64
- name: fidelity_joints_eligible
dtype: float64
- name: fidelity_joints_measured
dtype: float64
- name: fidelity_joints_status
dtype: string
- name: fidelity_materials_earned
dtype: float64
- name: fidelity_materials_eligible
dtype: float64
- name: fidelity_materials_measured
dtype: float64
- name: fidelity_materials_status
dtype: string
- name: fidelity_shape_precision
dtype: float64
- name: fidelity_shape_recall
dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
- name: fidelity_joints_candidate_count
dtype: float64
- name: inference_calls_used
dtype: float64
- name: validation_calls_used
dtype: float64
- name: model_request_errors
dtype: float64
- name: elapsed_seconds
dtype: float64
- name: model_request_seconds
dtype: float64
- name: input_tokens
dtype: float64
- name: output_tokens
dtype: float64
- name: total_tokens
dtype: float64
- name: inference_cost_usd
dtype: float64
- name: compute_cost_usd
dtype: float64
- name: total_cost_usd
dtype: float64
data_files:
- split: none
path:
- viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet
- viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet
- config_name: by_reference_set
features:
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dtype: image
- name: candidate_image
dtype: image
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- name: condition_id
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- name: harness_id
dtype: string
- name: skill_set_id
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- name: formal_fidelity_percent
dtype: float64
- name: visual_fidelity_percent
dtype: float64
- name: kinematic_fidelity_percent
dtype: float64
- name: simready_reward
dtype: float64
- name: mandatory_passed
dtype: float64
- name: mandatory_total
dtype: float64
- name: mandatory_failed
dtype: float64
- name: mandatory_unknown
dtype: float64
- name: mandatory_lower_bound_percent
dtype: float64
- name: mandatory_upper_bound_percent
dtype: float64
- name: completion_bonus
dtype: float64
- name: optional_score_percent
dtype: float64
- name: optional_passed
dtype: float64
- name: optional_failed
dtype: float64
- name: optional_unknown
dtype: float64
- name: optional_total
dtype: float64
- name: optional_measured
dtype: float64
- name: optional_coverage
dtype: float64
- name: optional_lower_bound_percent
dtype: float64
- name: optional_upper_bound_percent
dtype: float64
- name: fidelity_shape_percent
dtype: float64
- name: fidelity_rigid_parts_percent
dtype: float64
- name: fidelity_joints_percent
dtype: float64
- name: fidelity_materials_percent
dtype: float64
- name: fidelity_shape_coverage
dtype: float64
- name: fidelity_rigid_parts_coverage
dtype: float64
- name: fidelity_joints_coverage
dtype: float64
- name: fidelity_materials_coverage
dtype: float64
- name: fidelity_reference_geometry_status
dtype: string
- name: formal_fidelity_status
dtype: string
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- name: formal_fidelity_eligible
dtype: float64
- name: formal_fidelity_measured
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- name: formal_fidelity_coverage
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- name: formal_fidelity_lower_bound_percent
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- name: visual_fidelity_status
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- name: visual_fidelity_eligible
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- name: visual_fidelity_upper_bound_percent
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- name: kinematic_fidelity_status
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dtype: float64
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- name: kinematic_fidelity_measured
dtype: float64
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dtype: float64
- name: kinematic_fidelity_lower_bound_percent
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- name: kinematic_fidelity_upper_bound_percent
dtype: float64
- name: visual_appearance_percent
dtype: float64
- name: visual_appearance_status
dtype: string
- name: visual_appearance_earned
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dtype: float64
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- name: kinematic_reference_joint_count
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- name: kinematic_candidate_joint_count
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- name: kinematic_matched_joint_count
dtype: float64
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- name: kinematic_extra_joint_count
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dtype: float64
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dtype: string
- name: kinematic_moving_joints_earned
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- name: kinematic_moving_joints_lower_bound_percent
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- name: kinematic_moving_joints_upper_bound_percent
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- name: kinematic_fixed_constraints_percent
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- name: kinematic_fixed_constraints_lower_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_upper_bound_percent
dtype: float64
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dtype: float64
- name: fidelity_shape_eligible
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- name: fidelity_shape_measured
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- name: fidelity_shape_status
dtype: string
- name: fidelity_rigid_parts_earned
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- name: fidelity_rigid_parts_eligible
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- name: fidelity_rigid_parts_measured
dtype: float64
- name: fidelity_rigid_parts_status
dtype: string
- name: fidelity_joints_earned
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- name: fidelity_joints_eligible
dtype: float64
- name: fidelity_joints_measured
dtype: float64
- name: fidelity_joints_status
dtype: string
- name: fidelity_materials_earned
dtype: float64
- name: fidelity_materials_eligible
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dtype: float64
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dtype: string
- name: fidelity_shape_precision
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- name: fidelity_shape_recall
dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
- name: fidelity_joints_candidate_count
dtype: float64
- name: inference_calls_used
dtype: float64
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dtype: float64
- name: model_request_errors
dtype: float64
- name: elapsed_seconds
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- name: model_request_seconds
dtype: float64
- name: input_tokens
dtype: float64
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dtype: float64
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- name: total_cost_usd
dtype: float64
data_files:
- split: nv25
path:
- viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet
- viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet
- config_name: by_protocol
features:
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- name: kinematic_fidelity_percent
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dtype: float64
- name: fidelity_joints_status
dtype: string
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dtype: float64
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dtype: float64
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dtype: string
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dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
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dtype: float64
- name: inference_calls_used
dtype: float64
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- name: model_request_errors
dtype: float64
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dtype: float64
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dtype: float64
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dtype: float64
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data_files:
- split: authoring_64_native_output_v1
path:
- viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet
- viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet
- config_name: by_reasoning
features:
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dtype: string
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dtype: float64
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- name: optional_upper_bound_percent
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- name: kinematic_reference_joint_count
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- name: kinematic_moving_joints_upper_bound_percent
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- name: kinematic_fixed_constraints_percent
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- name: kinematic_fixed_constraints_coverage
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- name: kinematic_fixed_constraints_lower_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_upper_bound_percent
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dtype: float64
- name: fidelity_shape_eligible
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- name: fidelity_shape_status
dtype: string
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- name: fidelity_rigid_parts_eligible
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dtype: float64
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dtype: string
- name: fidelity_joints_earned
dtype: float64
- name: fidelity_joints_eligible
dtype: float64
- name: fidelity_joints_measured
dtype: float64
- name: fidelity_joints_status
dtype: string
- name: fidelity_materials_earned
dtype: float64
- name: fidelity_materials_eligible
dtype: float64
- name: fidelity_materials_measured
dtype: float64
- name: fidelity_materials_status
dtype: string
- name: fidelity_shape_precision
dtype: float64
- name: fidelity_shape_recall
dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
- name: fidelity_joints_candidate_count
dtype: float64
- name: inference_calls_used
dtype: float64
- name: validation_calls_used
dtype: float64
- name: model_request_errors
dtype: float64
- name: elapsed_seconds
dtype: float64
- name: model_request_seconds
dtype: float64
- name: input_tokens
dtype: float64
- name: output_tokens
dtype: float64
- name: total_tokens
dtype: float64
- name: inference_cost_usd
dtype: float64
- name: compute_cost_usd
dtype: float64
- name: total_cost_usd
dtype: float64
data_files:
- split: high
path:
- viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet
- split: xhigh
path:
- viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet
- config_name: by_asset
features:
- name: reference_image
dtype: image
- name: candidate_image
dtype: image
- name: capture_view
dtype: string
- name: condition_id
dtype: string
- name: asset_id
dtype: string
- name: requested_model
dtype: string
- name: harness_id
dtype: string
- name: skill_set_id
dtype: string
- name: repetition
dtype: int64
- name: status
dtype: string
- name: formal_fidelity_percent
dtype: float64
- name: visual_fidelity_percent
dtype: float64
- name: kinematic_fidelity_percent
dtype: float64
- name: simready_reward
dtype: float64
- name: mandatory_passed
dtype: float64
- name: mandatory_total
dtype: float64
- name: mandatory_failed
dtype: float64
- name: mandatory_unknown
dtype: float64
- name: mandatory_lower_bound_percent
dtype: float64
- name: mandatory_upper_bound_percent
dtype: float64
- name: completion_bonus
dtype: float64
- name: optional_score_percent
dtype: float64
- name: optional_passed
dtype: float64
- name: optional_failed
dtype: float64
- name: optional_unknown
dtype: float64
- name: optional_total
dtype: float64
- name: optional_measured
dtype: float64
- name: optional_coverage
dtype: float64
- name: optional_lower_bound_percent
dtype: float64
- name: optional_upper_bound_percent
dtype: float64
- name: fidelity_shape_percent
dtype: float64
- name: fidelity_rigid_parts_percent
dtype: float64
- name: fidelity_joints_percent
dtype: float64
- name: fidelity_materials_percent
dtype: float64
- name: fidelity_shape_coverage
dtype: float64
- name: fidelity_rigid_parts_coverage
dtype: float64
- name: fidelity_joints_coverage
dtype: float64
- name: fidelity_materials_coverage
dtype: float64
- name: fidelity_reference_geometry_status
dtype: string
- name: formal_fidelity_status
dtype: string
- name: formal_fidelity_earned
dtype: float64
- name: formal_fidelity_eligible
dtype: float64
- name: formal_fidelity_measured
dtype: float64
- name: formal_fidelity_coverage
dtype: float64
- name: formal_fidelity_lower_bound_percent
dtype: float64
- name: formal_fidelity_upper_bound_percent
dtype: float64
- name: visual_fidelity_status
dtype: string
- name: visual_fidelity_earned
dtype: float64
- name: visual_fidelity_eligible
dtype: float64
- name: visual_fidelity_measured
dtype: float64
- name: visual_fidelity_coverage
dtype: float64
- name: visual_fidelity_lower_bound_percent
dtype: float64
- name: visual_fidelity_upper_bound_percent
dtype: float64
- name: kinematic_fidelity_status
dtype: string
- name: kinematic_fidelity_earned
dtype: float64
- name: kinematic_fidelity_eligible
dtype: float64
- name: kinematic_fidelity_measured
dtype: float64
- name: kinematic_fidelity_coverage
dtype: float64
- name: kinematic_fidelity_lower_bound_percent
dtype: float64
- name: kinematic_fidelity_upper_bound_percent
dtype: float64
- name: visual_appearance_percent
dtype: float64
- name: visual_appearance_status
dtype: string
- name: visual_appearance_earned
dtype: float64
- name: visual_appearance_eligible
dtype: float64
- name: visual_appearance_measured
dtype: float64
- name: visual_appearance_coverage
dtype: float64
- name: visual_appearance_lower_bound_percent
dtype: float64
- name: visual_appearance_upper_bound_percent
dtype: float64
- name: kinematic_reference_joint_count
dtype: float64
- name: kinematic_candidate_joint_count
dtype: float64
- name: kinematic_matched_joint_count
dtype: float64
- name: kinematic_missing_joint_count
dtype: float64
- name: kinematic_extra_joint_count
dtype: float64
- name: kinematic_moving_joints_percent
dtype: float64
- name: kinematic_moving_joints_status
dtype: string
- name: kinematic_moving_joints_earned
dtype: float64
- name: kinematic_moving_joints_eligible
dtype: float64
- name: kinematic_moving_joints_measured
dtype: float64
- name: kinematic_moving_joints_coverage
dtype: float64
- name: kinematic_moving_joints_lower_bound_percent
dtype: float64
- name: kinematic_moving_joints_upper_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_percent
dtype: float64
- name: kinematic_fixed_constraints_status
dtype: string
- name: kinematic_fixed_constraints_earned
dtype: float64
- name: kinematic_fixed_constraints_eligible
dtype: float64
- name: kinematic_fixed_constraints_measured
dtype: float64
- name: kinematic_fixed_constraints_coverage
dtype: float64
- name: kinematic_fixed_constraints_lower_bound_percent
dtype: float64
- name: kinematic_fixed_constraints_upper_bound_percent
dtype: float64
- name: fidelity_shape_earned
dtype: float64
- name: fidelity_shape_eligible
dtype: float64
- name: fidelity_shape_measured
dtype: float64
- name: fidelity_shape_status
dtype: string
- name: fidelity_rigid_parts_earned
dtype: float64
- name: fidelity_rigid_parts_eligible
dtype: float64
- name: fidelity_rigid_parts_measured
dtype: float64
- name: fidelity_rigid_parts_status
dtype: string
- name: fidelity_joints_earned
dtype: float64
- name: fidelity_joints_eligible
dtype: float64
- name: fidelity_joints_measured
dtype: float64
- name: fidelity_joints_status
dtype: string
- name: fidelity_materials_earned
dtype: float64
- name: fidelity_materials_eligible
dtype: float64
- name: fidelity_materials_measured
dtype: float64
- name: fidelity_materials_status
dtype: string
- name: fidelity_shape_precision
dtype: float64
- name: fidelity_shape_recall
dtype: float64
- name: fidelity_shape_samples_each_direction
dtype: float64
- name: fidelity_rigid_parts_geometry_percent
dtype: float64
- name: fidelity_rigid_parts_structure_percent
dtype: float64
- name: fidelity_rigid_parts_structure_earned
dtype: float64
- name: fidelity_rigid_parts_structure_eligible
dtype: float64
- name: fidelity_joints_reference_count
dtype: float64
- name: fidelity_joints_candidate_count
dtype: float64
- name: inference_calls_used
dtype: float64
- name: validation_calls_used
dtype: float64
- name: model_request_errors
dtype: float64
- name: elapsed_seconds
dtype: float64
- name: model_request_seconds
dtype: float64
- name: input_tokens
dtype: float64
- name: output_tokens
dtype: float64
- name: total_tokens
dtype: float64
- name: inference_cost_usd
dtype: float64
- name: compute_cost_usd
dtype: float64
- name: total_cost_usd
dtype: float64
data_files:
- split: accessory_eyeglasses_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/accessory_eyeglasses_a01.parquet
- >-
viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/by_asset/accessory_eyeglasses_a01.parquet
- split: box_cardboard_open_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/box_cardboard_open_a01.parquet
- split: bucket_utility_red_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/bucket_utility_red_a01.parquet
- split: chair_office_amf_black_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/chair_office_amf_black_a01.parquet
- split: cleaning_cloth_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/cleaning_cloth_a01.parquet
- split: container_bottle_glass_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/container_bottle_glass_a01.parquet
- split: enginecomponent_camshaft_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/enginecomponent_camshaft_a01.parquet
- split: food_beverage_coffeecup_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_beverage_coffeecup_a01.parquet
- split: food_prepared_croissant_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_prepared_croissant_a01.parquet
- split: food_produce_banana_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_banana_a01.parquet
- split: food_produce_broccoli_b01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_produce_broccoli_b01.parquet
- >-
viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/by_asset/food_produce_broccoli_b01.parquet
- split: handtool_hammer_crosspeen_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/handtool_hammer_crosspeen_a01.parquet
- split: handtool_wrench_adjustable_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/handtool_wrench_adjustable_a01.parquet
- split: handtruck_convertible_steel_red_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/handtruck_convertible_steel_red_a01.parquet
- split: kitchenware_kettle_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/kitchenware_kettle_a01.parquet
- split: kitchenware_pan_j01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/kitchenware_pan_j01.parquet
- split: pallet_wood_recycled_a05
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/pallet_wood_recycled_a05.parquet
- split: powertool_drill_b01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/powertool_drill_b01.parquet
- split: ppe_helmet_hardhat_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/ppe_helmet_hardhat_a01.parquet
- split: servicetool_funnel_flexiblespout_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/servicetool_funnel_flexiblespout_a01.parquet
- split: sign_wetfloor_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/sign_wetfloor_a01.parquet
- split: suspension_coilover_rear_b01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/suspension_coilover_rear_b01.parquet
- split: tools_fireextinguisher_co2_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/tools_fireextinguisher_co2_a01.parquet
- split: utensils_scissors_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/utensils_scissors_a01.parquet
- split: wheelassembly_wheel_rim_a01
path:
- >-
viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/wheelassembly_wheel_rim_a01.parquet
version: 1.0.0
simreadybench_viewer: 3
tags:
- benchmark
- evaluation
- results
- 3d
- robotics
- simready
task_categories:
- image-to-3d
- text-to-3d
SimReadyBench
A benchmark for simulation-ready asset reconstruction
Chris von Csefalvay, Pranav Doma, Achyuthan Unni Krishnan and Tamas Foldi
SimReadyBench measures how well models reconstruct simulation-ready USD assets from reference images, an authoring brief and nominal dimensions. Models, agent harnesses and authoring skills are independent experimental factors. Evaluation reports three independent composite scores: formal fidelity, visual fidelity and kinematic fidelity.
NV25 leaderboard
Each entry contains 100 reconstructions: four attempts for each of the 25 NV25 assets. Formal, visual and kinematic fidelity are independent scores on a 0-100 scale, with no combined ranking. Optional results score the 51 optional SimReady requirements separately from the 46 mandatory requirements in formal fidelity. Values are means [95% confidence interval].
NV25, Robotics-Prop 4.0.0. Protocol: authoring-64-native-output-v1. Reference revision: f4860aa0c75607adb50a78bf96e77510bffc040f.
| Model | Reasoning | Harness | Skills | Formal (%) | Optional (%) | Visual (%) | Kinematic (%) | Results |
|---|---|---|---|---|---|---|---|---|
| gpt-6.1-sol | high | pi | none | 100.00 [100.00, 100.00] | 73.78 [72.96, 74.57] | 44.87 [37.01, 52.51] | 7.04 [0.24, 19.84] | Readout |
Confidence intervals use 10,000 asset-cluster bootstrap samples, retaining the four reconstructions of each sampled asset together. N/A excludes references without eligible criteria. Unknown measurements remain unknown. Scores, coverage and source revisions.
Efficiency
Efficiency is the mean fidelity divided by mean resource use across eligible reconstructions with both measurements. Token efficiency uses total input and output tokens, while time efficiency uses elapsed reconstruction time, including model requests, tools and evaluation. Cost efficiency uses pricing-derived inference cost in USD, with compute cost reported separately. Each ratio uses paired score and resource measurements, with joint asset-cluster bootstrap intervals.
| Configuration | Formal points/1M tokens | Visual points/1M tokens | Kinematic points/1M tokens |
|---|---|---|---|
| gpt-6.1-sol high reasoning, pi, skills: none authoring-64-native-output-v1 |
102.90 [95.98, 110.80]* | 46.34 [37.17, 55.88]* | 6.83 [0.25, 19.09]* |
| Configuration | Formal points/minute | Visual points/minute | Kinematic points/minute |
|---|---|---|---|
| gpt-6.1-sol high reasoning, pi, skills: none authoring-64-native-output-v1 |
9.70 [9.13, 10.30] | 4.35 [3.48, 5.25] | 0.65 [0.02, 1.86] |
| Configuration | Formal points/USD inference | Visual points/USD inference | Kinematic points/USD inference |
|---|---|---|---|
| gpt-6.1-sol high reasoning, pi, skills: none authoring-64-native-output-v1 |
219.61 [204.88, 234.78]* | 98.90 [79.01, 118.91]* | 14.48 [0.51, 41.55]* |
Resource use
Means per reconstruction with measured usage. Full precision, totals and measurement coverage are retained in leaderboard.json.
| Configuration | Total tokens | Elapsed minutes | Model requests | Pricing-derived inference cost (USD) | Compute cost (USD) | Total cost (USD) |
|---|---|---|---|---|---|---|
| gpt-6.1-sol high reasoning, pi, skills: none authoring-64-native-output-v1 |
971,775.96* | 10.31 | 36.02 | 0.46* | unknown | unknown |
* Incomplete usage coverage.
Strict conformance
A strict pass satisfies all 46 mandatory SimReady requirements. The four-attempt rate is the fraction of assets with at least one strict pass among their four reconstructions.
| Configuration | Strict pass per reconstruction | At least one strict pass in four |
|---|---|---|
| gpt-6.1-sol high reasoning, pi, skills: none authoring-64-native-output-v1 |
100.00% (100/100) | 100.00% (25/25) |
Reference sets
NV25 and NV100 are distinct public reference sets, separate from the withheld internal benchmark reference set. The packaged nvidia-25 manifest defines NV25, which contains 25 NVIDIA SimReady assets.
Evaluation protocol
The NV25 protocol uses four independent reconstructions per asset, giving 100 attempts for each model, harness and skill configuration. Reference observations and eligible measurements are fixed before authoring. Each attempt records the model settings and reconstruction identity.
| Experimental factor | Definition |
|---|---|
| Public reference set | NV25, with the same 25 assets and their declared dependencies for every configuration |
| Model | The requested model with recorded generation and reasoning settings |
| Harness | The selected agent harness, such as Pi or OpenCode, used to author and submit the USD |
| Skills | The supplied authoring skill set, including an explicit empty condition |
| Repetitions | Four distinct reconstruction identities for each reference |
During a reconstruction, the agent receives reference views, dimensions and an authoring brief. It can inspect the asset observations and request validator feedback as it authors a self-contained USD package. Final evaluation uses the submitted package, with shared orientation-aligned cameras for reference and reconstruction captures.
Evaluation factors
The three composites describe different properties of the reconstruction and are reported independently on a 0-100 scale:
| Composite | Factors | Report field |
|---|---|---|
| Formal fidelity | Mandatory SimReady Robotics-Prop requirements and strict profile pass | formal_fidelity_percent |
| Visual fidelity | Reference-scale shape and appearance material correspondence | visual_fidelity_percent |
| Kinematic fidelity | Joint recovery, connectivity and correspondence of allowed relative poses | kinematic_fidelity_percent |
Formal fidelity
Profile validation uses NVIDIA SimReady-Foundation Robotics-Prop 4.0.0. The 46 mandatory requirements cover the structural, physical and semantic properties of a simulation-ready prop. Each mandatory requirement contributes equally to 95 points, with five additional points when all 46 pass:
Formal fidelity = 95 x passed mandatory requirements / 46
+ 5 when all 46 mandatory requirements pass
Harbor receives this value as simready_reward. Strict acceptance requires all 46 mandatory requirements to pass. Multiple findings against one requirement count as one failed requirement. Missing or invalid candidate output scores zero against the same 46 requirements, while an incomplete evaluator run has a null score with credit bounds.
The profile's 51 optional requirements receive a separate score:
Optional score = 100 x passed optional requirements / 51
Both scores retain their passed, failed and unknown requirement counts. Partially measured profiles include coverage and lower and upper score bounds. Optional requirements do not change formal fidelity or its completion bonus.
Visual fidelity
Visual fidelity is the geometric mean of shape and appearance correspondence:
Visual fidelity = sqrt(shape_percent x appearance_percent)
Shape is the bidirectional surface F-score at the reference scale. Appearance compares supported colour, roughness, metallic response, opacity and texture values at corresponding reference surface samples. Each sample receives the mean of its eligible property matches, then the equal-area samples are averaged. The material-assignment flag, friction, restitution and density do not contribute to appearance credit. Assigned reference regions without measurable appearance inputs retain unknown credit, measurement coverage and lower and upper bounds. A factor with no eligible reference criteria is not applicable and is excluded from the mean.
Kinematic fidelity
The evaluator matches joints one to one through corresponding bodies and compares the relative poses permitted by their constraints. For fixed, revolute and prismatic joints, seventeen deterministic nonuniform states sample each motion probe. Both constraints act on the same reference-body landmarks, so reconstructed surface detail does not count twice as kinematic error.
band = 0.001 m + 0.01 x reference bounding-box diagonal
motion credit = 1 / (1 + (motion_rms_m / band)^2)
joint quality = motion credit x range credit x bound-pattern credit
group score = 100 x 2 x sum(matched joint quality)
/ (reference joint count + candidate joint count)
Finite ranges receive continuous credit for their unwrapped travel span, using 1 / (1 + (span_error / span_band)^2) with a span band of five degrees or 5 mm plus 5% of the reference span. Bound-pattern credit is 1 / (1 + differing_endpoints), where an endpoint differs when one interval is finite and the other is infinite. Fixed constraints have unit range and bound-pattern credit.
Known unbounded revolute joints use a canonical probe spanning one full revolution and prismatic joints use one reference diagonal. A half-bounded probe is anchored at its finite endpoint, while a fully unbounded probe uses a canonical coordinate origin. Authored bounds remain unchanged in the measurement record. Missing, blocked or contradictory bound observations remain unknown.
Type, connectivity and the relevant enabled/kinematic states must agree for motion credit. Missing joints receive no credit and additional joints increase the denominator. Fixed attachments and moving joints form separate groups. Their geometric mean gives the kinematic composite when both groups apply, so fixed attachments cannot compensate for missing movable joints. Equivalent axis signs, reversed limits, exchanged joint endpoints and pivots shifted along the same hinge line retain the same score. Unsupported reference constraints and ambiguous body correspondence remain unknown. A reference with no joints is not applicable when the candidate also has none, while additional candidate joints score zero.
Detailed correspondence measurements
Units and up-axis are normalised to metres/Z-up, then one whole-object translation and rotation about the vertical axis align the candidate with the reference. The same transform is applied to geometry, bodies, joint frames and material samples, preserving object scale and relative part transforms. The evaluator performs no scale fitting or independent part fitting. Reference and candidate captures use this alignment and shared cameras.
| Factor | Measurements |
|---|---|
| Shape | Bidirectional surface correspondence, surface F-score, precision, recall and distance statistics |
| Rigid parts | Corresponding body geometry, body count, relative arrangement and enabled/kinematic states |
| Joints | Joint count, type, connectivity, enabled state, anchors, relative frames, axes and limits |
| Materials | Supported surface properties, UV textures and authored friction, restitution, density and combine modes |
The structured composite_scores readout retains each composite's factors, earned credit, eligible denominators, measured counts, coverage and score bounds. Unknown measurements remain null and criteria absent from the reference are not applicable. Candidate omissions of eligible properties receive no credit. The evaluation guide defines the comparison bands and component calculations.
Orientation-aligned comparison
Readouts and leaderboard
Reconstruction readouts group completed reconstructions by evaluation configuration. Each readout contains a browsable report, a score table and the generated assets and evaluation files:
runs/<run-id>/
report.html
results.json
scores.csv
assets/<asset-id>/reconstruction-<n>/candidate/
evidence/<asset-id>/reconstruction-<n>/
The dataset viewer displays matched reference and candidate images beside the score tables. The leaderboard summarises complete NV25 evaluations with four reconstructions per asset, while individual readouts retain the measurements for every completed reconstruction.
Evaluate a model
Use Python 3.12 in a Linux or WSL shell. Set DAYTONA_API_KEY and the credentials required by the model provider, then install the package and import the published runtime:
git clone https://github.com/hcltech-robotics/simreadybench.git
cd simreadybench
python3.12 -m venv .venv
. .venv/bin/activate
python -m pip install '.[daytona,publish]'
simready-bench setup daytona --output ../simreadybench-runtime.json
Run the benchmark with the saved runtime configuration:
simready-bench benchmark nvidia-25 --repetitions 4 \
--model MODEL_ID --harness pi --deploy daytona \
--runtime-images ../simreadybench-runtime.json \
--authoring-turns 64 --workers 4 --supervise \
--output-dir ../simreadybench-results
Replace MODEL_ID with the model identifier and add --skills PATH for an authoring skill condition. Add --max-spend-usd AMOUNT to set a separate monetary ceiling. For local execution, follow the deployment guide to configure a Linux Docker host, then use --deploy local with its local-runtime-images.json. Add --hf-repo your-org/your-results --hf-run your-run-id to publish completed reconstruction readouts to a Hugging Face dataset.
The quickstart covers model evaluation and result inspection, and the deployment guide describes the local and Daytona runtimes.
Citation
@software{simreadybench2026,
title = {SimReadyBench: Evaluating models, harnesses and skills
for simulation-ready asset generation},
author = {von Csefalvay, Chris and Doma, Pranav and
Unni Krishnan, Achyuthan and Foldi, Tamas},
organization = {HCLTech},
year = {2026},
version = {1.0.0},
url = {https://github.com/hcltech-robotics/simreadybench}
}