# Repair scoring

Each task evaluates the model's submitted OpenUSD package in a separate Harbor
verifier. The primary result is an **authored-USD reward from 0 to 1**. It measures
repair correctness and partial progress while requiring the object’s healthy
content to survive. The intact reference supplies comparison evidence; the
model's repair is the submitted candidate package.

[![Scoring flow from broken input through submission and preservation gates to partial reward, with separate visual and physical assessments.](../media/scoring-flow.png)](../media/scoring-flow.svg)

The reward gives equal weight to two measurements across the targeted faults:

```text
F = passed fault checks / total fault checks
S = mean semantic progress across the same fault checks
R = 0.5 × F + 0.5 × S

authored_usd = 0                 if invalid or preservation fails
              min(R, 0.99)      if objective requirements remain unmet
              R                 if every objective requirement passes
```

`F` measures strict correctness against the case tolerances. `S` measures graded
agreement with the required state, including improvements that have not crossed
a strict tolerance. A repair can therefore earn credit for correcting some
faults while others remain. Full objective success removes the 0.99 cap; it does
not replace the computed reward with an automatic score of 1.

Submission validity requires a local package, a unique entrypoint, parseable USD,
resolved dependencies within the package and compliance with resource limits.
Preservation requires complete body correspondence, retained visible components,
the reference degrees of freedom, healthy joint constraints, collision support,
healthy body properties and no increase in composition errors. The input's joint
count bounds any retained extra constraints, allowing partial credit while a
supplied redundant-constraint fault remains. Removing healthy content or adding
dummy bodies fails preservation and gives zero reward.

Full objective success requires preservation, every targeted check, and all of
the following:

| Gate | Requirement |
| --- | --- |
| `all_joints` | Equal joint counts; every joint passes existence, graph, frame, range and state checks. |
| `all_bodies` | Geometry, collision, visual and physical materials, body state and hierarchy pass for every body. Mass properties also pass wherever the reference establishes them. |
| `articulation_preserved` | The articulation-root count matches and every candidate root has a valid location. |
| `composition_complete` | The candidate has no composition errors. |

The frozen profile selects the fault checks, sampling settings and tolerances.
Measurements cover component surfaces and placement, joint frames and travel,
collision coverage and free space, controlling mass and inertia, and resolved
materials. Equivalent namespaces, layer layouts and decompositions can satisfy
the same requirements. The verifier measures effective composed opinions and
ignores agent-authored reward files.

Harbor receives `authored_usd` in `/logs/verifier/reward.json`. The report retains
the validity and preservation gates, `targeted_repair_fraction`,
`targeted_semantic_score`, `objective_success` and individual measurements. A
verifier or runtime error is identified separately as `infrastructure_error`;
its numeric fallback is not evidence of an evaluated model repair.

Visual and physical grades remain separate. The visual adapter requires valid
submission, preservation and full objective success, followed by explicit
authorization and trusted renders of the exact candidate and reference bytes.
Its record identifies the model, rubric and render evidence. Physical grades
require executed runtime tests for the properties they claim, such as cooked
collision, contact or dynamic motion. Unrun or unmeasured scores are null. These
grades do not change the authored-USD reward or supply a combined overall score.

[Episode records](episodes.md) connect each model and attempt to its fixed task
version, submitted candidate and separate objective, visual and physical reports.