| --- |
| 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-medium-pi-none-turn64-20261021/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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| - 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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| 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-medium-pi-none-turn64-20261021/scores.parquet |
| - 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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| data_files: |
| - split: pi |
| path: |
| - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| 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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| data_files: |
| - split: none |
| path: |
| - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/scores.parquet |
| - viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet |
| - config_name: by_reference_set |
| 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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| data_files: |
| - split: nv25 |
| path: |
| - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/scores.parquet |
| - viewer/nv25-qwen38-27b-xhigh-pi-none-turn64-20261021/scores.parquet |
| - config_name: by_protocol |
| 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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| data_files: |
| - split: authoring_64_bounded_output_8192_v1 |
| path: |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/scores.parquet |
| - 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: |
| - 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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| data_files: |
| - split: high |
| path: |
| - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.parquet |
| - split: medium |
| path: |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - name: authoring_protocol |
| dtype: string |
| - name: max_output_tokens |
| dtype: int64 |
| - name: output_limit |
| dtype: string |
| - name: reasoning_effort |
| dtype: string |
| - name: run_id |
| dtype: string |
| 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-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| - viewer/nv25-qwen38-27b-medium-pi-none-turn64-20261021/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 |
| --- |
| <div align="center"> |
| <h1>SimReadyBench</h1> |
| <p><strong>A benchmark for simulation-ready asset reconstruction</strong></p> |
| <p> |
| <a href="https://chrisvoncsefalvay.com">Chris von Csefalvay</a>, |
| Pranav Doma, Achyuthan Unni Krishnan and |
| <a href="https://github.com/tfoldi">Tamas Foldi</a> |
| </p> |
| <p><a href="https://www.hcltech.com/">HCLTech</a></p> |
| <p> |
| <a href="https://hcltech-robotics.github.io/simreadybench/"><img src="https://img.shields.io/badge/Project-page-006B73?style=flat-square" alt="Project page"></a> |
| <a href="https://hcltech-robotics.github.io/simreadybench/#paper"><img src="https://img.shields.io/badge/Paper-coming_soon-8A6D3B?style=flat-square" alt="Paper coming soon"></a> |
| <a href="https://github.com/hcltech-robotics/simreadybench"><img src="https://img.shields.io/badge/Code-GitHub-24292F?style=flat-square" alt="Code on GitHub"></a> |
| <a href="https://huggingface.co/datasets/hcltech-robotics/simreadybench"><img src="https://img.shields.io/badge/Dataset-results-567A9A?style=flat-square" alt="Dataset and results on Hugging Face"></a> |
| <a href="https://github.com/hcltech-robotics/simreadybench/blob/main/docs/evaluation.md"><img src="https://img.shields.io/badge/Scoring-guide-5B6573?style=flat-square" alt="Scoring guide"></a> |
| </p> |
| <p> |
| <a href="https://huggingface.co/datasets/hcltech-robotics/simreadybench/blob/main/CODE-LICENSE.txt"><img src="https://img.shields.io/badge/Code-MIT-5B6573?style=flat-square" alt="Code: MIT licence"></a> |
| <a href="https://huggingface.co/datasets/hcltech-robotics/simreadybench/blob/main/NVIDIA-ASSET-LICENSE.txt"><img src="https://img.shields.io/badge/Source_assets-CC_BY_4.0-5B6573?style=flat-square" alt="Source assets: CC BY 4.0 licence"></a> |
| </p> |
| </div> |
| |
| 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. |
|
|
| <!-- simreadybench-leaderboard:start --> |
| ## 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] | <a href="https://huggingface.co/datasets/hcltech-robotics/simreadybench/blob/main/runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/report.html">Readout</a> | |
|
|
| 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](leaderboard.json). |
|
|
|  |
|
|
| ### 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<br>high reasoning, pi, skills: none<br>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<br>high reasoning, pi, skills: none<br>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<br>high reasoning, pi, skills: none<br>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](leaderboard.json). |
|
|
| | Configuration | Total tokens | Elapsed minutes | Model requests | Pricing-derived inference cost (USD) | Compute cost (USD) | Total cost (USD) | |
| | --- | ---: | ---: | ---: | ---: | ---: | ---: | |
| | gpt-6.1-sol<br>high reasoning, pi, skills: none<br>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<br>high reasoning, pi, skills: none<br>authoring-64-native-output-v1 | 100.00% (100/100) | 100.00% (25/25) | |
|
|
| <!-- simreadybench-leaderboard:end --> |
|
|
| ## Reference sets |
|
|
| NV25 and NV100 are distinct public reference sets, separate from the withheld internal benchmark reference set. The packaged [`nvidia-25` manifest](https://github.com/hcltech-robotics/simreadybench/blob/main/src/simready_bench/resources/benchmarks/nvidia-25.json) 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 |
|
|
| <!-- score-diagram:formal:start --> |
|
|
|  |
|
|
| [SVG](media/formal-fidelity.svg) | [Editable Mermaid source](media/formal-fidelity.mmd) |
|
|
| <!-- score-diagram:formal:end --> |
|
|
| Profile validation uses [NVIDIA SimReady-Foundation Robotics-Prop 4.0.0](https://github.com/NVIDIA/simready-foundation/blob/main/nv_core/sr_specs/docs/guides/profiles_validation_workflow.md). 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: |
|
|
| ```text |
| 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: |
|
|
| ```text |
| 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 |
|
|
| <!-- score-diagram:visual:start --> |
|
|
|  |
|
|
|
|
| <!-- score-diagram:visual:end --> |
|
|
| Visual fidelity is the geometric mean of shape and appearance correspondence: |
|
|
| ```text |
| 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 |
|
|
| <!-- score-diagram:kinematic:start --> |
|
|
|  |
|
|
| <!-- score-diagram:kinematic:end --> |
|
|
| 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. |
|
|
| ```text |
| 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](https://github.com/hcltech-robotics/simreadybench/blob/main/docs/evaluation.md) defines the comparison bands and component calculations. |
|
|
| ## Orientation-aligned comparison |
|
|
|  |
|
|
| ## Readouts and leaderboard |
|
|
| [Reconstruction readouts](https://huggingface.co/datasets/hcltech-robotics/simreadybench/tree/main/runs) group completed reconstructions by evaluation configuration. Each readout contains a browsable report, a score table and the generated assets and evaluation files: |
|
|
| ```text |
| 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](https://huggingface.co/datasets/hcltech-robotics/simreadybench/blob/main/leaderboard.json) 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: |
|
|
| ```sh |
| 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: |
|
|
| ```sh |
| 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](https://github.com/hcltech-robotics/simreadybench/blob/main/docs/quickstart.md) covers model evaluation and result inspection, and the [deployment guide](https://github.com/hcltech-robotics/simreadybench/blob/main/docs/deployment.md) describes the local and Daytona runtimes. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @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} |
| } |
| ``` |
|
|
|
|
