Publish reconstruction readouts and benchmark leaderboard

.gitattributes

@@ -115,3 +115,4 @@ runs/fresh-v1-nv25-gpt-6.1-sol-pi-none-medium-turn64-20261020/assets/bucket_util
 runs/fresh-v1-nv25-gpt-6.1-sol-pi-none-medium-turn64-20261020/assets/chair_office_amf_black_a01/reconstruction-2/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text
 runs/fresh-v1-nv25-gpt-6.1-sol-pi-none-medium-turn64-20261020/assets/accessory_eyeglasses_a01/reconstruction-2/candidate/asset.usd filter=lfs diff=lfs merge=lfs -text
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README.md

@@ -74,6 +74,9 @@ configs:
   - split: container_bottle_glass_a01
     path:
     - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/container_bottle_glass_a01.csv
+  - split: food_beverage_coffeecup_a01
+    path:
+    - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_beverage_coffeecup_a01.csv
 version: 1.0.0
 simreadybench_viewer: 1
 tags:

runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/asset.usd

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runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/manifest.json

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runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/report.html

@@ -1 +1 @@
-<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width"><meta http-equiv="Content-Security-Policy" content="default-src 'none'; img-src 'self'; style-src 'unsafe-inline'"><title>SimReadyBench results</title><style>body{font:16px Georgia,serif;line-height:1.6;max-width:1200px;margin:3rem auto;padding:0 1.5rem;background:#fff;color:#202020}a{color:#254e75}h1,h2,h3{line-height:1.25}summary{cursor:pointer}details{margin:1rem 0}.images{display:grid;grid-template-columns:repeat(auto-fit,minmax(260px,1fr));gap:1.5rem}figure{margin:0}img{width:100%;height:auto}figcaption{font-size:14px}table{border-collapse:collapse;width:100%;font-size:14px}th,td{text-align:left;vertical-align:top;border-bottom:1px solid #ddd;padding:8px}.table{overflow-x:auto;margin:1rem 0}section{border-top:1px solid #ddd;padding:1.5rem 0}.artefacts{font-size:14px}</style><h1>SimReadyBench results</h1><p>Formal fidelity measures SimReady Robotics-Prop requirements. Visual fidelity combines shape and appearance materials. Kinematic fidelity measures joint recovery and motion correspondence. Each score is reported independently.</p><p>2 of 100 reconstruction attempts completed.</p><p><a href="scores.csv">Scores CSV</a> | <a href="results.json">Detailed results JSON</a></p><h2>Results by asset</h2><div class="table"><table><thead><tr><th>Asset</th><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>44.95</td><td>6444/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>78.66</td><td>1611/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>86.04</td><td>78.66</td><td>2048</td><td>9.7</td><td>6.39</td><td>12.84</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>82.18</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:opacity</td><td>1611/2048</td><td>78.66</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-2"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>29.9</td><td>4899/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>79.74</td><td>1633/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.79</td><td>79.74</td><td>2048</td><td>4.51</td><td>3.58</td><td>7.77</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Vessel</td><td>81.71</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:metallic</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:opacity</td><td>1633/2048</td><td>79.74</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section></html>
+<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width"><meta http-equiv="Content-Security-Policy" content="default-src 'none'; img-src 'self'; style-src 'unsafe-inline'"><title>SimReadyBench results</title><style>body{font:16px Georgia,serif;line-height:1.6;max-width:1200px;margin:3rem auto;padding:0 1.5rem;background:#fff;color:#202020}a{color:#254e75}h1,h2,h3{line-height:1.25}summary{cursor:pointer}details{margin:1rem 0}.images{display:grid;grid-template-columns:repeat(auto-fit,minmax(260px,1fr));gap:1.5rem}figure{margin:0}img{width:100%;height:auto}figcaption{font-size:14px}table{border-collapse:collapse;width:100%;font-size:14px}th,td{text-align:left;vertical-align:top;border-bottom:1px solid #ddd;padding:8px}.table{overflow-x:auto;margin:1rem 0}section{border-top:1px solid #ddd;padding:1.5rem 0}.artefacts{font-size:14px}</style><h1>SimReadyBench results</h1><p>Formal fidelity measures SimReady Robotics-Prop requirements. Visual fidelity combines shape and appearance materials. Kinematic fidelity measures joint recovery and motion correspondence. Each score is reported independently.</p><p>3 of 100 reconstruction attempts completed.</p><p><a href="scores.csv">Scores CSV</a> | <a href="results.json">Detailed results JSON</a></p><h2>Results by asset</h2><div class="table"><table><thead><tr><th>Asset</th><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>box_cardboard_open_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>container_bottle_glass_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>food_beverage_coffeeCup_a01</td><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>100% (46/46)</td><td>72.53% (1.45061/2)</td><td>100% (1/1)</td><td>74.51% (38/51)</td><td>95.87% (0.95874/1)</td><td>95.2% (1.90396/2)</td><td>88.89% (8/9)</td><td>31.53% (6458/20480)</td><td>47</td><td>3</td><td>0</td><td>595.82</td><td>538.51</td><td>1221647</td><td>21670</td><td>1243317</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>box_cardboard_open_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.4% (1.60807/2)</td><td>N/A</td><td>70.59% (36/51)</td><td>82.18% (0.821836/1)</td><td>82.18% (0.821836/1)</td><td>N/A</td><td>44.95% (6444/14336)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>29</td><td>3</td><td>0</td><td>431.15</td><td>384.27</td><td>558400</td><td>16418</td><td>574818</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>82.18</td><td>0.821836/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>44.95</td><td>6444/14336</td><td>14336</td><td>14336</td><td>58.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>78.66</td><td>1611/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>86.04</td><td>78.66</td><td>2048</td><td>9.7</td><td>6.39</td><td>12.84</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_box_a01_obj_00</td><td>/CardboardTray</td><td>82.18</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:assignment</td><td>1611/2048</td><td>78.66</td></tr><tr><td>visual:opacity</td><td>1611/2048</td><td>78.66</td></tr></tbody></table></div><p class="artefacts"><a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/box_cardboard_open_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/box_cardboard_open_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-front-3.png" alt="box_cardboard_open_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-front-6.png" alt="box_cardboard_open_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-isometric-2.png" alt="box_cardboard_open_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-isometric-5.png" alt="box_cardboard_open_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="box_cardboard_open_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/reference-side-4.png" alt="box_cardboard_open_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/box_cardboard_open_a01/reconstruction-1/candidate-side-7.png" alt="box_cardboard_open_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-2"><h2>container_bottle_glass_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>80.72% (1.61437/2)</td><td>N/A</td><td>74.51% (38/51)</td><td>81.71% (0.817125/1)</td><td>81.71% (0.817125/1)</td><td>N/A</td><td>29.9% (4899/16384)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>36</td><td>3</td><td>0</td><td>562.03</td><td>496.66</td><td>896829</td><td>21319</td><td>918148</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>81.71</td><td>0.817125/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Joints</td><td>Not applicable</td><td>0/0</td><td>0</td><td>0</td><td>0</td></tr><tr><td>Materials</td><td>29.9</td><td>4899/16384</td><td>16384</td><td>16384</td><td>66.67</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>79.74</td><td>1633/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>83.79</td><td>79.74</td><td>2048</td><td>4.51</td><td>3.58</td><td>7.77</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/bottle_01_obj_00</td><td>/Vessel</td><td>81.71</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>0</td><td>0</td><td>0/0</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:metallic</td><td>1633/2048</td><td>79.74</td></tr><tr><td>visual:opacity</td><td>1633/2048</td><td>79.74</td></tr></tbody></table></div><p class="artefacts"><a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/container_bottle_glass_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/container_bottle_glass_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-front-3.png" alt="container_bottle_glass_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-front-6.png" alt="container_bottle_glass_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-isometric-2.png" alt="container_bottle_glass_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-isometric-5.png" alt="container_bottle_glass_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="container_bottle_glass_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/reference-side-4.png" alt="container_bottle_glass_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/container_bottle_glass_a01/reconstruction-1/candidate-side-7.png" alt="container_bottle_glass_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-3"><h2>food_beverage_coffeeCup_a01 / gpt-6.1-sol / repetition 1</h2><div class="table"><table><thead><tr><th>Model</th><th>Harness</th><th>Skills</th><th>Repetition</th><th>Status</th></tr></thead><tbody><tr><td>gpt-6.1-sol</td><td>pi</td><td>none</td><td>1</td><td>completed</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Formal fidelity (%)</th><th>Visual fidelity (%)</th><th>Kinematic fidelity (%)</th><th>SimReady Robotics-Prop optional</th><th>Shape (%)</th><th>Rigid parts (%)</th><th>Joints (%)</th><th>Materials (%)</th></tr></thead><tbody><tr><td>100% (46/46)</td><td>72.53% (1.45061/2)</td><td>100% (1/1)</td><td>74.51% (38/51)</td><td>95.87% (0.95874/1)</td><td>95.2% (1.90396/2)</td><td>88.89% (8/9)</td><td>31.53% (6458/20480)</td></tr></tbody></table></div><h3>Requests, timing and costs</h3><div class="table"><table><thead><tr><th>Model requests</th><th>Validation calls</th><th>Request errors</th><th>Elapsed time (s)</th><th>Model request time (s)</th><th>Input tokens</th><th>Output tokens</th><th>Total tokens</th><th>Inference cost (USD)</th><th>Compute cost (USD)</th><th>Total cost (USD)</th></tr></thead><tbody><tr><td>47</td><td>3</td><td>0</td><td>595.82</td><td>538.51</td><td>1221647</td><td>21670</td><td>1243317</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>46 of 46 mandatory requirements passed.</p><h3>Direct USD reconstruction fidelity</h3><div class="table"><table><thead><tr><th>Component</th><th>Fidelity (%)</th><th>Credit</th><th>Measured</th><th>Eligible</th><th>Reference coverage (%)</th></tr></thead><tbody><tr><td>Shape</td><td>95.87</td><td>0.95874/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>95.2</td><td>1.90396/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>88.89</td><td>8/9</td><td>9</td><td>9</td><td>100</td></tr><tr><td>Materials</td><td>31.53</td><td>6458/20480</td><td>20480</td><td>20480</td><td>83.33</td></tr></tbody></table></div><h3>Appearance materials</h3><div class="table"><table><thead><tr><th>Score (%)</th><th>Earned/eligible</th><th>Status</th></tr></thead><tbody><tr><td>54.87</td><td>1123.75/2048</td><td>measured</td></tr></tbody></table></div><h3>Kinematic correspondence</h3><div class="table"><table><thead><tr><th>Factor</th><th>Score (%)</th><th>Earned/eligible</th><th>Measured/eligible</th><th>Coverage (%)</th></tr></thead><tbody><tr><td>Fixed constraints</td><td>100</td><td>2/2</td><td>2/2</td><td>100</td></tr><tr><td>Moving joints</td><td>Not measured</td><td>0/0</td><td>0/0</td><td>0</td></tr></tbody></table></div><div class="table"><table><thead><tr><th>Reference joint</th><th>Candidate joint</th><th>Score (%)</th><th>Motion RMS (mm)</th><th>Status</th></tr></thead><tbody><tr><td>/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00</td><td>/CoffeeCup/LidSnapFit</td><td>100</td><td>0</td><td>measured_motion</td></tr></tbody></table></div><h3>Surface correspondence</h3><div class="table"><table><thead><tr><th>Precision (%)</th><th>Recall (%)</th><th>Samples per direction</th><th>Distance band (mm)</th><th>RMS distance (mm)</th><th>95th-percentile distance (mm)</th></tr></thead><tbody><tr><td>95.9</td><td>95.85</td><td>2048</td><td>2.68</td><td>1.14</td><td>2.12</td></tr></tbody></table></div><h3>Rigid-part correspondence</h3><div class="table"><table><thead><tr><th>Reference body</th><th>Candidate body</th><th>Surface correspondence (%)</th></tr></thead><tbody><tr><td>/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00</td><td>/CoffeeCup/Body</td><td>94.28</td></tr><tr><td>/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00</td><td>/CoffeeCup/Lid</td><td>96.12</td></tr></tbody></table></div><h3>Joint correspondence</h3><div class="table"><table><thead><tr><th>Reference joints</th><th>Candidate joints</th><th>Passed/eligible checks</th></tr></thead><tbody><tr><td>1</td><td>1</td><td>8/9</td></tr></tbody></table></div><h3>Rigid-structure checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>body_count</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>1/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>2/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>2/2</td><td>2/2</td></tr></tbody></table></div><h3>Joint checks</h3><div class="table"><table><thead><tr><th>Feature</th><th>Passed/eligible</th><th>Measured/eligible</th></tr></thead><tbody><tr><td>existence_type_connectivity</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>1/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>1/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>1/1</td><td>1/1</td></tr><tr><td>joint_count</td><td>1/1</td><td>1/1</td></tr></tbody></table></div><h3>Material correspondence</h3><div class="table"><table><thead><tr><th>Property</th><th>Credit/eligible</th><th>Correspondence (%)</th></tr></thead><tbody><tr><td>physics:assignment</td><td>0/2048</td><td>0</td></tr><tr><td>physics:density</td><td>0/2048</td><td>0</td></tr><tr><td>physics:dynamicFriction</td><td>0/2048</td><td>0</td></tr><tr><td>physics:restitution</td><td>0/2048</td><td>0</td></tr><tr><td>physics:staticFriction</td><td>0/2048</td><td>0</td></tr><tr><td>visual:assignment</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:diffuseColor</td><td>491/2048</td><td>23.97</td></tr><tr><td>visual:metallic</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:opacity</td><td>1963/2048</td><td>95.85</td></tr><tr><td>visual:roughness</td><td>78/2048</td><td>3.81</td></tr></tbody></table></div><p class="artefacts"><a href="assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/food_beverage_coffeeCup_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a> | <a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/harbor-trajectory-4.json">Harbor trajectory 1</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-front-3.png" alt="food_beverage_coffeeCup_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-front-6.png" alt="food_beverage_coffeeCup_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-isometric-2.png" alt="food_beverage_coffeeCup_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-isometric-5.png" alt="food_beverage_coffeeCup_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="food_beverage_coffeeCup_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/reference-side-4.png" alt="food_beverage_coffeeCup_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/food_beverage_coffeeCup_a01/reconstruction-1/candidate-side-7.png" alt="food_beverage_coffeeCup_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section></html>

runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/results.json

@@ -1,7 +1,7 @@
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@@ -4363,6 +4363,2301 @@
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+          "bytes": 188816
+        }
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+      "nvidia_validator_report_file": {
+        "path": "evidence/food_beverage_coffeeCup_a01/reconstruction-1/nvidia-validator.json",
+        "complete": true,
+        "findings_truncated": false,
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+      },
+      "reasoning_effort": "high"
     }
   ]
 }

runs/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/scores.csv

@@ -1,3 +1,4 @@
 condition_id,asset_id,requested_model,harness_id,skill_set_id,repetition,status,formal_fidelity_percent,visual_fidelity_percent,kinematic_fidelity_percent,simready_reward,mandatory_passed,mandatory_total,mandatory_failed,mandatory_unknown,mandatory_lower_bound_percent,mandatory_upper_bound_percent,completion_bonus,optional_score_percent,optional_passed,optional_failed,optional_unknown,optional_total,optional_measured,optional_coverage,optional_lower_bound_percent,optional_upper_bound_percent,fidelity_shape_percent,fidelity_rigid_parts_percent,fidelity_joints_percent,fidelity_materials_percent,fidelity_shape_coverage,fidelity_rigid_parts_coverage,fidelity_joints_coverage,fidelity_materials_coverage,fidelity_reference_geometry_status,formal_fidelity_status,formal_fidelity_earned,formal_fidelity_eligible,formal_fidelity_measured,formal_fidelity_coverage,formal_fidelity_lower_bound_percent,formal_fidelity_upper_bound_percent,visual_fidelity_status,visual_fidelity_earned,visual_fidelity_eligible,visual_fidelity_measured,visual_fidelity_coverage,visual_fidelity_lower_bound_percent,visual_fidelity_upper_bound_percent,kinematic_fidelity_status,kinematic_fidelity_earned,kinematic_fidelity_eligible,kinematic_fidelity_measured,kinematic_fidelity_coverage,kinematic_fidelity_lower_bound_percent,kinematic_fidelity_upper_bound_percent,visual_appearance_percent,visual_appearance_status,visual_appearance_earned,visual_appearance_eligible,visual_appearance_measured,visual_appearance_coverage,visual_appearance_lower_bound_percent,visual_appearance_upper_bound_percent,kinematic_reference_joint_count,kinematic_candidate_joint_count,kinematic_matched_joint_count,kinematic_missing_joint_count,kinematic_extra_joint_count,kinematic_moving_joints_percent,kinematic_moving_joints_status,kinematic_moving_joints_earned,kinematic_moving_joints_eligible,kinematic_moving_joints_measured,kinematic_moving_joints_coverage,kinematic_moving_joints_lower_bound_percent,kinematic_moving_joints_upper_bound_percent,kinematic_fixed_constraints_percent,kinematic_fixed_constraints_status,kinematic_fixed_constraints_earned,kinematic_fixed_constraints_eligible,kinematic_fixed_constraints_measured,kinematic_fixed_constraints_coverage,kinematic_fixed_constraints_lower_bound_percent,kinematic_fixed_constraints_upper_bound_percent,fidelity_shape_earned,fidelity_shape_eligible,fidelity_shape_measured,fidelity_shape_status,fidelity_rigid_parts_earned,fidelity_rigid_parts_eligible,fidelity_rigid_parts_measured,fidelity_rigid_parts_status,fidelity_joints_earned,fidelity_joints_eligible,fidelity_joints_measured,fidelity_joints_status,fidelity_materials_earned,fidelity_materials_eligible,fidelity_materials_measured,fidelity_materials_status,fidelity_shape_precision,fidelity_shape_recall,fidelity_shape_samples_each_direction,fidelity_rigid_parts_geometry_percent,fidelity_rigid_parts_structure_percent,fidelity_rigid_parts_structure_earned,fidelity_rigid_parts_structure_eligible,fidelity_joints_reference_count,fidelity_joints_candidate_count,inference_calls_used,validation_calls_used,model_request_errors,elapsed_seconds,model_request_seconds,input_tokens,output_tokens,total_tokens,inference_cost_usd,compute_cost_usd,total_cost_usd
 condition-b5d6b4fe33831596df5485708a01e30ad32e21cd4de8f9ff5594d4e5d20a2efc,box_cardboard_open_a01,gpt-6.1-sol,pi,none,1,completed,100.0,80.40357649810949,,100.0,46,46,0,0,100.0,100.0,5,70.58823529411765,36,15,0,51,51,1.0,70.58823529411765,70.58823529411765,82.18359722428106,82.18359722428106,,44.949776785714285,1.0,1.0,0,0.5833333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.6080715299621897,2,2,1.0,80.40357649810949,80.40357649810949,not_applicable,0,0,0,0,,,78.662109375,measured,1611.0,2048,2048,1.0,78.662109375,78.662109375,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.8218359722428106,1,1,measured,0.8218359722428106,1,1,measured,0,0,0,not_applicable,6444,14336,14336,measured,0.8603515625,0.78662109375,2048,82.18359722428106,100.0,4,4,0,0,29,3,0,431.15402541682124,384.27109763398767,558400,16418,574818,,,
 condition-41a25dcf482f02299a1561e0422d0cc06efdeeff2570af4177be7b2f73bd4718,container_bottle_glass_a01,gpt-6.1-sol,pi,none,1,completed,100.0,80.7183541893045,,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,81.71247480591222,81.71247480591222,,29.901123046875,1.0,1.0,0,0.6666666666666666,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.6143670837860902,2,2,1.0,80.7183541893045,80.7183541893045,not_applicable,0,0,0,0,,,79.736328125,measured,1633.0,2048,2048,1.0,79.736328125,79.736328125,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.8171247480591223,1,1,measured,0.8171247480591223,1,1,measured,0,0,0,not_applicable,4899,16384,16384,measured,0.837890625,0.79736328125,2048,81.71247480591222,100.0,4,4,0,0,36,3,0,562.0344988331199,496.6627781614661,896829,21319,918148,,,
+condition-22453487dba7523ab3a279efb632736d7544203d329c28cfd65e83631b191563,food_beverage_coffeeCup_a01,gpt-6.1-sol,pi,none,1,completed,100.0,72.53044446031988,99.99999993742968,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,95.87401722052458,95.19783193029149,88.88888888888889,31.533203125,1.0,1.0,1.0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4506088892063977,2,2,1.0,72.53044446031988,72.53044446031988,measured,0.9999999993742967,1,1,1.0,99.99999993742968,99.99999993742968,54.87060546875,measured,1123.75,2048,2048,1.0,54.87060546875,54.87060546875,1,1,1,0,0,,not_applicable,0,0,0,0,,,99.99999993742968,measured,1.9999999987485935,2,2,1.0,99.99999993742968,99.99999993742968,0.9587401722052458,1,1,measured,1.9039566386058298,2,2,measured,8,9,9,measured,6458,20480,20480,measured,0.958984375,0.95849609375,2048,95.19783193029149,100.0,6,6,1,1,47,3,0,595.8230416737497,538.5053609590977,1221647,21670,1243317,,,

viewer-index.json

@@ -106,6 +106,10 @@
           {
             "split": "container_bottle_glass_a01",
             "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/container_bottle_glass_a01.csv"
+          },
+          {
+            "split": "food_beverage_coffeecup_a01",
+            "path": "viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_beverage_coffeecup_a01.csv"
           }
         ]
       }
@@ -118,7 +122,8 @@
       "\"box_cardboard_open_a01\"": "box_cardboard_open_a01",
       "\"bucket_utility_red_a01\"": "bucket_utility_red_a01",
       "\"chair_office_amf_black_a01\"": "chair_office_amf_black_a01",
-      "\"container_bottle_glass_a01\"": "container_bottle_glass_a01"
+      "\"container_bottle_glass_a01\"": "container_bottle_glass_a01",
+      "\"food_beverage_coffeeCup_a01\"": "food_beverage_coffeecup_a01"
     },
     "by_harness": {
       "\"pi\"": "pi"

viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/food_beverage_coffeecup_a01.csv

@@ -0,0 +1,2 @@
+condition_id,asset_id,requested_model,harness_id,skill_set_id,repetition,status,formal_fidelity_percent,visual_fidelity_percent,kinematic_fidelity_percent,simready_reward,mandatory_passed,mandatory_total,mandatory_failed,mandatory_unknown,mandatory_lower_bound_percent,mandatory_upper_bound_percent,completion_bonus,optional_score_percent,optional_passed,optional_failed,optional_unknown,optional_total,optional_measured,optional_coverage,optional_lower_bound_percent,optional_upper_bound_percent,fidelity_shape_percent,fidelity_rigid_parts_percent,fidelity_joints_percent,fidelity_materials_percent,fidelity_shape_coverage,fidelity_rigid_parts_coverage,fidelity_joints_coverage,fidelity_materials_coverage,fidelity_reference_geometry_status,formal_fidelity_status,formal_fidelity_earned,formal_fidelity_eligible,formal_fidelity_measured,formal_fidelity_coverage,formal_fidelity_lower_bound_percent,formal_fidelity_upper_bound_percent,visual_fidelity_status,visual_fidelity_earned,visual_fidelity_eligible,visual_fidelity_measured,visual_fidelity_coverage,visual_fidelity_lower_bound_percent,visual_fidelity_upper_bound_percent,kinematic_fidelity_status,kinematic_fidelity_earned,kinematic_fidelity_eligible,kinematic_fidelity_measured,kinematic_fidelity_coverage,kinematic_fidelity_lower_bound_percent,kinematic_fidelity_upper_bound_percent,visual_appearance_percent,visual_appearance_status,visual_appearance_earned,visual_appearance_eligible,visual_appearance_measured,visual_appearance_coverage,visual_appearance_lower_bound_percent,visual_appearance_upper_bound_percent,kinematic_reference_joint_count,kinematic_candidate_joint_count,kinematic_matched_joint_count,kinematic_missing_joint_count,kinematic_extra_joint_count,kinematic_moving_joints_percent,kinematic_moving_joints_status,kinematic_moving_joints_earned,kinematic_moving_joints_eligible,kinematic_moving_joints_measured,kinematic_moving_joints_coverage,kinematic_moving_joints_lower_bound_percent,kinematic_moving_joints_upper_bound_percent,kinematic_fixed_constraints_percent,kinematic_fixed_constraints_status,kinematic_fixed_constraints_earned,kinematic_fixed_constraints_eligible,kinematic_fixed_constraints_measured,kinematic_fixed_constraints_coverage,kinematic_fixed_constraints_lower_bound_percent,kinematic_fixed_constraints_upper_bound_percent,fidelity_shape_earned,fidelity_shape_eligible,fidelity_shape_measured,fidelity_shape_status,fidelity_rigid_parts_earned,fidelity_rigid_parts_eligible,fidelity_rigid_parts_measured,fidelity_rigid_parts_status,fidelity_joints_earned,fidelity_joints_eligible,fidelity_joints_measured,fidelity_joints_status,fidelity_materials_earned,fidelity_materials_eligible,fidelity_materials_measured,fidelity_materials_status,fidelity_shape_precision,fidelity_shape_recall,fidelity_shape_samples_each_direction,fidelity_rigid_parts_geometry_percent,fidelity_rigid_parts_structure_percent,fidelity_rigid_parts_structure_earned,fidelity_rigid_parts_structure_eligible,fidelity_joints_reference_count,fidelity_joints_candidate_count,inference_calls_used,validation_calls_used,model_request_errors,elapsed_seconds,model_request_seconds,input_tokens,output_tokens,total_tokens,inference_cost_usd,compute_cost_usd,total_cost_usd
+condition-22453487dba7523ab3a279efb632736d7544203d329c28cfd65e83631b191563,food_beverage_coffeeCup_a01,gpt-6.1-sol,pi,none,1,completed,100.0,72.53044446031988,99.99999993742968,100.0,46,46,0,0,100.0,100.0,5,74.50980392156863,38,13,0,51,51,1.0,74.50980392156863,74.50980392156863,95.87401722052458,95.19783193029149,88.88888888888889,31.533203125,1.0,1.0,1.0,0.8333333333333334,complete,measured,46,46,46,1.0,100.0,100.0,measured,1.4506088892063977,2,2,1.0,72.53044446031988,72.53044446031988,measured,0.9999999993742967,1,1,1.0,99.99999993742968,99.99999993742968,54.87060546875,measured,1123.75,2048,2048,1.0,54.87060546875,54.87060546875,1,1,1,0,0,,not_applicable,0,0,0,0,,,99.99999993742968,measured,1.9999999987485935,2,2,1.0,99.99999993742968,99.99999993742968,0.9587401722052458,1,1,measured,1.9039566386058298,2,2,measured,8,9,9,measured,6458,20480,20480,measured,0.958984375,0.95849609375,2048,95.19783193029149,100.0,6,6,1,1,47,3,0,595.8230416737497,538.5053609590977,1221647,21670,1243317,,,