Publish reconstruction readouts and benchmark leaderboard

README.md

@@ -2179,7 +2179,7 @@ configs:
     - viewer/nv25-glm53-flash-low-turn64-output4096-bounded-v1-continue-length-v1-local-20261021/by_asset/accessory_eyeglasses_a01.parquet
     - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/accessory_eyeglasses_a01.parquet
     - viewer/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/by_asset/accessory_eyeglasses_a01.parquet
-    - viewer/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/scores.parquet
+    - viewer/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/by_asset/accessory_eyeglasses_a01.parquet
   - split: box_cardboard_open_a01
     path:
     - viewer/nv25-glm53-flash-low-turn64-output4096-bounded-v1-continue-length-v1-local-20261021/by_asset/box_cardboard_open_a01.parquet
@@ -2200,6 +2200,7 @@ configs:
     - viewer/nv25-glm53-flash-low-turn64-output4096-bounded-v1-continue-length-v1-local-20261021/by_asset/cleaning_cloth_a01.parquet
     - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/cleaning_cloth_a01.parquet
     - viewer/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/by_asset/cleaning_cloth_a01.parquet
+    - viewer/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/by_asset/cleaning_cloth_a01.parquet
   - split: container_bottle_glass_a01
     path:
     - viewer/nv25-glm53-flash-low-turn64-output4096-bounded-v1-continue-length-v1-local-20261021/by_asset/container_bottle_glass_a01.parquet

runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/assets/cleaning_cloth_a01/reconstruction-2/candidate/create_towel.py

@@ -0,0 +1,166 @@
+#!/usr/bin/env python
+"""
+Create a folded yellow towel USD asset conforming to SimReady Robotics-Prop 4.0.0.
+Dimensions: 0.26m x 0.23m x 0.23m (folded state)
+"""
+
+from pxr import Usd, UsdGeom, UsdShade, Sdf, UsdPhysics, Gf
+import numpy as np
+
+def create_folded_towel():
+    # Create stage
+    stage = Usd.Stage.CreateNew("/output/asset.usd")
+    
+    # Set up meters as linear unit
+    UsdGeom.SetStageMetersPerUnit(stage, 1.0)
+    UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.y)
+    stage.SetTimeCodesPerSecond(24)
+    
+    # Set default prim
+    stage.SetDefaultPrim(stage.GetPrimAtPath("/World"))
+    
+    # Document the stage
+    stage.GetRootLayer().documentation = "Folded yellow towel asset for SimReady Robotics-Prop"
+    
+    # Dimensions
+    width = 0.26
+    depth = 0.23
+    height = 0.23
+    
+    hw = width / 2
+    hd = depth / 2
+    
+    # Create World Xform
+    worldXform = UsdGeom.Xform.Define(stage, "/World")
+    worldXform.CreatePurposeAttr().Set("default")
+    
+    # Create towel asset - this is the main rigid body
+    towelXform = UsdGeom.Xform.Define(stage, "/World/towel")
+    towelXform.CreatePurposeAttr().Set("default")
+    towelXform.AddTranslateOp().Set((0, 0, 0))
+    
+    # Apply RigidBodyAPI - static prop
+    UsdPhysics.RigidBodyAPI.Apply(towelXform.GetPrim())
+    rigidBodyAPI = UsdPhysics.RigidBodyAPI(towelXform.GetPrim())
+    rigidBodyAPI.CreateRigidBodyEnabledAttr().Set(False)
+    
+    # Folded towel geometry
+    body_height = height * 0.55
+    fold_height = height * 0.45
+    
+    vertices = [
+        # Bottom layer
+        (-hw, 0, -hd), (hw, 0, -hd), (hw, 0, hd), (-hw, 0, hd),
+        (-hw, body_height, -hd), (hw, body_height, -hd), (hw, body_height, hd), (-hw, body_height, hd),
+        # Top layer
+        (-hw, body_height + fold_height, -hd), (hw, body_height + fold_height, -hd),
+        (hw, body_height + fold_height, hd), (-hw, body_height + fold_height, hd)
+    ]
+    
+    face_vertex_counts = []
+    face_vertex_indices = []
+    
+    # Bottom layer faces
+    face_vertex_counts.extend([4, 4, 4, 4, 4, 4])
+    face_vertex_indices.extend([
+        0, 1, 2, 3,  # bottom
+        0, 4, 5, 1,  # front
+        1, 5, 6, 2,  # right
+        2, 6, 7, 3,  # back
+        3, 7, 4, 0,  # left
+        4, 7, 6, 5   # top (interface)
+    ])
+    
+    # Top layer faces
+    face_vertex_counts.extend([4, 4, 4, 4, 4])
+    face_vertex_indices.extend([
+        4, 8, 9, 5,   # front
+        5, 9, 10, 6,  # right
+        6, 10, 11, 7, # back
+        7, 11, 8, 4,  # left
+        8, 11, 10, 9  # top
+    ])
+    
+    # Visual mesh
+    visual_mesh = UsdGeom.Mesh.Define(stage, "/World/towel/visual")
+    visual_mesh.CreatePurposeAttr().Set("default")
+    visual_mesh.GetPointsAttr().Set(vertices)
+    visual_mesh.GetFaceVertexCountsAttr().Set(face_vertex_counts)
+    visual_mesh.GetFaceVertexIndicesAttr().Set(face_vertex_indices)
+    visual_mesh.CreateSubdivisionSchemeAttr().Set("none")
+    
+    # Compute and set normals
+    face_normals = compute_face_normals(vertices, face_vertex_counts, face_vertex_indices)
+    prim = visual_mesh.GetPrim()
+    normals_attr = prim.CreateAttribute("primvars:normals", Sdf.ValueTypeNames.Normal3fArray)
+    normals_attr.Set(face_normals)
+    prim.CreateAttribute("primvars:normals:interpolation", Sdf.ValueTypeNames.Token).Set("faceVarying")
+    
+    # Set UVs
+    uvs_array = [((v[0] + hw) / width, (v[2] + hd) / depth) for v in vertices]
+    prim.CreateAttribute("primvars:st", Sdf.ValueTypeNames.Float2Array).Set(uvs_array)
+    
+    # Set display color
+    visual_mesh.CreateDisplayColorAttr().Set([(0.95, 0.85, 0.15)])
+    
+    # Material
+    material_path = "/World/towel/Materials/towel_material"
+    towel_mat = UsdShade.Material.Define(stage, material_path)
+    
+    shader = UsdShade.Shader.Define(stage, material_path + "/shader")
+    shader.CreateIdAttr("PreviewSurface")
+    shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set((0.95, 0.85, 0.15))
+    shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.7)
+    shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
+    
+    towel_mat.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(), "surface")
+    UsdShade.MaterialBindingAPI(visual_mesh).Bind(towel_mat)
+    
+    # Collision mesh
+    collision_mesh = UsdGeom.Mesh.Define(stage, "/World/towel/collision")
+    collision_mesh.CreatePurposeAttr().Set("collision")
+    collision_mesh.GetPointsAttr().Set(vertices)
+    collision_mesh.GetFaceVertexCountsAttr().Set(face_vertex_counts)
+    collision_mesh.GetFaceVertexIndicesAttr().Set(face_vertex_indices)
+    collision_mesh.CreateSubdivisionSchemeAttr().Set("none")
+    
+    UsdPhysics.CollisionAPI.Apply(collision_mesh.GetPrim())
+    collision_mesh.GetPrim().CreateAttribute("physics:collisionEnabled", Sdf.ValueTypeNames.Bool).Set(True)
+    
+    # Semantic labels on the main prim
+    towel_prim = stage.GetPrimAtPath("/World/towel")
+    towel_prim.CreateAttribute("semantic_label", Sdf.ValueTypeNames.String).Set("towel")
+    towel_prim.CreateAttribute("semantic_type", Sdf.ValueTypeNames.String).Set("textile")
+    
+    # Also add to visual mesh
+    visual_mesh.GetPrim().CreateAttribute("semantic_label", Sdf.ValueTypeNames.String).Set("towel")
+    visual_mesh.GetPrim().CreateAttribute("semantic_type", Sdf.ValueTypeNames.String).Set("textile")
+    
+    stage.GetRootLayer().Save()
+    print("Created /output/asset.usd")
+
+def compute_face_normals(vertices, face_counts, face_indices):
+    normals = []
+    idx = 0
+    for count in face_counts:
+        face_verts = [vertices[i] for i in face_indices[idx:idx+count]]
+        if len(face_verts) >= 3:
+            v0 = np.array(face_verts[0])
+            v1 = np.array(face_verts[1])
+            v2 = np.array(face_verts[2])
+            edge1 = v1 - v0
+            edge2 = v2 - v0
+            normal = np.cross(edge1, edge2)
+            norm = np.linalg.norm(normal)
+            if norm > 0:
+                normal = normal / norm
+            normal = tuple(normal.tolist())
+        else:
+            normal = (0.0, 1.0, 0.0)
+        for _ in range(count):
+            normals.append(normal)
+        idx += count
+    return normals
+
+if __name__ == "__main__":
+    create_folded_towel()

runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/assets/cleaning_cloth_a01/reconstruction-2/candidate/manifest.json

@@ -0,0 +1,19 @@
+{
+  "copied_independently": true,
+  "entrypoint": "asset.usd",
+  "files": [
+    {
+      "relative_path": "asset.usd",
+      "sha256": "de3ec761c88968379588f259e0d7dba781f335a0f322b56427b8f7be3ba9c605",
+      "size_bytes": 3099
+    },
+    {
+      "relative_path": "create_towel.py",
+      "sha256": "b0cb0a094cc5e922aa85757bddba2d1d6d2c2c14fa12b470f6a5a5df93da4cea",
+      "size_bytes": 6224
+    }
+  ],
+  "schema": "simready-bench-submission-v1",
+  "size_bytes": 9323,
+  "snapshot_sha256": "558dd8f5607bb8c4b240cc693ea2c7c2303e839eb79afc9beb34dc40c54c7183"
+}

runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/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>1 of 100 reconstruction attempts completed.</p><p>1 of 100 evaluations complete, including applicable fidelity measurements and captures.</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>accessory_eyeglasses_a01</td><td>Qwen/Qwen3.5-397B-A17B:deepinfra</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>0% (0/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>0% (0/51)</td><td>0% (0/1)</td><td>0% (0/4)</td><td>0% (0/29)</td><td>0% (0/15341)</td><td>16</td><td>1</td><td>1</td><td>2544.52</td><td>2518.66</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>accessory_eyeglasses_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2</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>Qwen/Qwen3.5-397B-A17B:deepinfra</td><td>pi</td><td>none</td><td>2</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>0% (0/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>0% (0/51)</td><td>0% (0/1)</td><td>0% (0/4)</td><td>0% (0/29)</td><td>0% (0/15341)</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>16</td><td>1</td><td>1</td><td>2544.52</td><td>2518.66</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>0 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>0</td><td>0/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>0</td><td>0/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>0</td><td>0/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>0</td><td>0/15341</td><td>15341</td><td>15341</td><td>62.42</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>0</td><td>0/2048</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>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</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_arm_02_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</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>0</td><td>0</td><td>2048</td><td>3.34</td><td>Not measured</td><td>Not measured</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/arm_01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</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>3</td><td>0</td><td>0/29</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>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>0/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>0/4</td><td>4/4</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>0/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>0/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>0/3</td><td>3/3</td></tr><tr><td>limits</td><td>0/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</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>0/2048</td><td>0</td></tr><tr><td>visual:metallic</td><td>0/1005</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a></p></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>2 of 100 reconstruction attempts completed.</p><p>2 of 100 evaluations complete, including applicable fidelity measurements and captures.</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>accessory_eyeglasses_a01</td><td>Qwen/Qwen3.5-397B-A17B:deepinfra</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>0% (0/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>0% (0/51)</td><td>0% (0/1)</td><td>0% (0/4)</td><td>0% (0/29)</td><td>0% (0/15341)</td><td>16</td><td>1</td><td>1</td><td>2544.52</td><td>2518.66</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>cleaning_cloth_a01</td><td>Qwen/Qwen3.5-397B-A17B:deepinfra</td><td>pi</td><td>none</td><td>2</td><td>completed</td><td>0% (0/46)</td><td>0% (0/2)</td><td>N/A</td><td>0% (0/51)</td><td>0% (0/1)</td><td>0% (0/1)</td><td>N/A</td><td>0% (0/14336)</td><td>52</td><td>5</td><td>2</td><td>3333.45</td><td>3295.67</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>accessory_eyeglasses_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2</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>Qwen/Qwen3.5-397B-A17B:deepinfra</td><td>pi</td><td>none</td><td>2</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>0% (0/46)</td><td>0% (0/2)</td><td>0% (0/2)</td><td>0% (0/51)</td><td>0% (0/1)</td><td>0% (0/4)</td><td>0% (0/29)</td><td>0% (0/15341)</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>16</td><td>1</td><td>1</td><td>2544.52</td><td>2518.66</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>0 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>0</td><td>0/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>0</td><td>0/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>0</td><td>0/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>0</td><td>0/15341</td><td>15341</td><td>15341</td><td>62.42</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>0</td><td>0/2048</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>0</td><td>0/1</td><td>1/1</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>0/2</td><td>2/2</td><td>100</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_arm_02_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_arm_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>Not measured</td><td>0</td><td>Not measured</td><td>missing_joint</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>0</td><td>0</td><td>2048</td><td>3.34</td><td>Not measured</td><td>Not measured</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/arm_01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>Not measured</td><td>0</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>3</td><td>0</td><td>0/29</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>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>0/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>0/4</td><td>4/4</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>0/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>0/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>0/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>0/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>0/3</td><td>3/3</td></tr><tr><td>limits</td><td>0/2</td><td>2/2</td></tr><tr><td>joint_count</td><td>0/1</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>0/2048</td><td>0</td></tr><tr><td>visual:metallic</td><td>0/1005</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-2/nvidia-validator.json">NVIDIA validation findings</a></p></section><section id="attempt-2"><h2>cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2</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>Qwen/Qwen3.5-397B-A17B:deepinfra</td><td>pi</td><td>none</td><td>2</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>0% (0/46)</td><td>0% (0/2)</td><td>N/A</td><td>0% (0/51)</td><td>0% (0/1)</td><td>0% (0/1)</td><td>N/A</td><td>0% (0/14336)</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>52</td><td>5</td><td>2</td><td>3333.45</td><td>3295.67</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>0 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>0</td><td>0/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>0</td><td>0/1</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>0</td><td>0/14336</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>0</td><td>0/2048</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>0</td><td>0</td><td>2048</td><td>4.5</td><td>Not measured</td><td>Not measured</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/cleaningCloth_01_obj_00</td><td>Not measured</td><td>0</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>0/1</td><td>1/1</td></tr><tr><td>joint_inventory_count</td><td>0/1</td><td>1/1</td></tr><tr><td>body_enabled</td><td>0/1</td><td>1/1</td></tr><tr><td>body_kinematic</td><td>0/1</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>0/2048</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div><p class="artefacts"><a href="assets/cleaning_cloth_a01/reconstruction-2/candidate/asset.usd">Generated USD</a> | <a href="assets/cleaning_cloth_a01/reconstruction-2/candidate/manifest.json">Asset package manifest</a></p></section></html>

runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/results.json

@@ -1,7 +1,7 @@
 {
   "schema": "simready-bench-portable-report-v1",
   "planned_conditions": 100,
-  "completed_conditions": 1,
+  "completed_conditions": 2,
   "partial": true,
   "settings": {
     "settings_schema": "simready-bench-public-settings-v2",
@@ -2309,9 +2309,1917 @@
         "reasoning_effort": "off"
       },
       "authoring_protocol": "authoring-64-bounded-output-4096-v1-tools-bounded-v1-continue-length-v1"
+    },
+    {
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+      "kinematic_fidelity_status": "not_applicable",
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+      "request_recovery": {
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+          "87fcc74b8dba47769c62de65e85ab4c2"
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+        "missing": [
+          "run_spec",
+          "attempt_receipt"
+        ]
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+          "Whole-object comparison alignment is unavailable."
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+        "status": "available",
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+        "directory": "assets/cleaning_cloth_a01/reconstruction-2/candidate",
+        "entrypoint": "assets/cleaning_cloth_a01/reconstruction-2/candidate/asset.usd",
+        "manifest": "assets/cleaning_cloth_a01/reconstruction-2/candidate/manifest.json",
+        "manifest_sha256": "d618ce2ef9daef2e19744c69f9c534b29cf24ac44b654e496e30381fa04d0094",
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+            "relative_path": "create_towel.py",
+            "sha256": "b0cb0a094cc5e922aa85757bddba2d1d6d2c2c14fa12b470f6a5a5df93da4cea",
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+        "missing": [],
+        "captures": "not_applicable_no_alignable_candidate",
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+      "generation": {
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+        "max_output_tokens": 4096,
+        "reasoning_effort": "off"
+      },
+      "authoring_protocol": "authoring-64-bounded-output-4096-v1-tools-bounded-v1-continue-length-v1"
     }
   ],
-  "authored_conditions": 1,
-  "evaluated_conditions": 1,
+  "authored_conditions": 2,
+  "evaluated_conditions": 2,
   "benchmark_complete": false
 }

runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/scores.csv

@@ -1,2 +1,3 @@
 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-5109264343a97fb4d587a976897f383de5034f3fa30b0541492b9df9ae70cd13,accessory_eyeglasses_a01,Qwen/Qwen3.5-397B-A17B:deepinfra,pi,none,2,completed,0.0,0.0,0.0,0.0,0,46,46,0,0.0,0.0,0,0.0,0,51,0,51,51,1.0,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.0,1.0,0.6242268880208334,complete,measured,0,46,46,1.0,0.0,0.0,measured,0.0,2,2,1.0,0.0,0.0,measured,0.0,2,2,1.0,0.0,0.0,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,3,0,0,3,0,0.0,measured,0.0,2,2,1.0,0.0,0.0,0.0,measured,0.0,1,1,1.0,0.0,0.0,0.0,1,1,measured,0.0,4,4,measured,0,29,29,measured,0,15341,15341,measured,0.0,0.0,2048,0.0,0.0,0,10,3,0,16,1,1,2544.517475876026,2518.662984816241,,,,,,
+condition-c9ecda55a6a821478b3d91a608a687cf01152a8efbb4a671ba33c346dff508bf,cleaning_cloth_a01,Qwen/Qwen3.5-397B-A17B:deepinfra,pi,none,2,completed,0.0,0.0,,0.0,0,46,46,0,0.0,0.0,0,0.0,0,51,0,51,51,1.0,0.0,0.0,0.0,0.0,,0.0,1.0,1.0,0,0.5833333333333334,complete,measured,0,46,46,1.0,0.0,0.0,measured,0.0,2,2,1.0,0.0,0.0,not_applicable,0,0,0,0,,,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,0,0,0,0,0,,not_applicable,0,0,0,0,,,,not_applicable,0,0,0,0,,,0.0,1,1,measured,0.0,1,1,measured,0,0,0,not_applicable,0,14336,14336,measured,0.0,0.0,2048,0.0,0.0,0,4,0,0,52,5,2,3333.448787515983,3295.665858194232,,,,,,

viewer-index.json

@@ -476,7 +476,11 @@
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             "split": "accessory_eyeglasses_a01",
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+            "path": "viewer/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/by_asset/accessory_eyeglasses_a01.parquet"
+          },
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           }
         ]
       }

viewer/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/by_asset/accessory_eyeglasses_a01.parquet

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