Publish reconstruction readouts and benchmark leaderboard

README.md

@@ -2183,6 +2183,7 @@ configs:
     path:
     - viewer/nv25-glm53-flash-low-turn64-output4096-bounded-v1-continue-length-v1-local-20261021/by_asset/chair_office_amf_black_a01.parquet
     - viewer/nv25-gpt-6.1-sol-high-pi-none-turn64-20261020/by_asset/chair_office_amf_black_a01.parquet
+    - viewer/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/by_asset/chair_office_amf_black_a01.parquet
   - split: cleaning_cloth_a01
     path:
     - viewer/nv25-glm53-flash-low-turn64-output4096-bounded-v1-continue-length-v1-local-20261021/by_asset/cleaning_cloth_a01.parquet

runs/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/assets/chair_office_amf_black_a01/reconstruction-3/candidate/manifest.json

@@ -0,0 +1,14 @@
+{
+  "copied_independently": true,
+  "entrypoint": "asset.usd",
+  "files": [
+    {
+      "relative_path": "asset.usd",
+      "sha256": "6efcb4a522dd4f9e4a6b0cc4481b69220ba93e2e76699429b913f56b301d5f55",
+      "size_bytes": 5292
+    }
+  ],
+  "schema": "simready-bench-submission-v1",
+  "size_bytes": 5292,
+  "snapshot_sha256": "551733159efa1df290eebdf92558b1e8bd1a775baa81516d39820a90fa24eb63"
+}

runs/nv25-nemotron35-vl-nvfp4-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>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>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>80.54% (39/46)</td><td>31.01% (0.620225/2)</td><td>0.01% (0.000269547/2)</td><td>68.63% (35/51)</td><td>27.96% (0.279568/1)</td><td>13.6% (0.544129/4)</td><td>51.72% (15/29)</td><td>14.93% (2290/15341)</td><td>64</td><td>2</td><td>0</td><td>1689.59</td><td>1647.87</td><td>2916884</td><td>38207</td><td>2955091</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</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% (0/1)</td><td>Not measured (0/51), 51 unmeasured, bounds 0%-100%</td><td>0% (0/1)</td><td>0% (0/2)</td><td>0% (0/11)</td><td>0% (0/16356)</td><td>20</td><td>0</td><td>Not measured</td><td>764.27</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><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / 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>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</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>80.54% (39/46)</td><td>31.01% (0.620225/2)</td><td>0.01% (0.000269547/2)</td><td>68.63% (35/51)</td><td>27.96% (0.279568/1)</td><td>13.6% (0.544129/4)</td><td>51.72% (15/29)</td><td>14.93% (2290/15341)</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>64</td><td>2</td><td>0</td><td>1689.59</td><td>1647.87</td><td>2916884</td><td>38207</td><td>2955091</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>39 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>27.96</td><td>0.279568/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>13.6</td><td>0.544129/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>51.72</td><td>15/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>14.93</td><td>2290/15341</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>34.4</td><td>704.5/2048</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>0.18</td><td>0.0125754/7</td><td>7/7</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>4.04433e-05/4</td><td>4/4</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>/Sunglasses/Joints/LeftHinge</td><td>0</td><td>80.89</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>/Sunglasses/Joints/LensToLeftFront</td><td>0.63</td><td>41.93</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>18.31</td><td>59.08</td><td>2048</td><td>3.34</td><td>27.62</td><td>71.3</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>/Sunglasses/LeftTemple</td><td>6.58</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/RightLens</td><td>2.16</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/LeftFront</td><td>17.24</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>/Sunglasses/LeftLens</td><td>28.43</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>8</td><td>15/29</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>4/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>4/4</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>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>1/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</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>1210/2048</td><td>59.08</td></tr><tr><td>visual:metallic</td><td>132/1005</td><td>13.13</td></tr><tr><td>visual:opacity</td><td>948/2048</td><td>46.29</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-2"><h2>bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / 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>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</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% (0/1)</td><td>Not measured (0/51), 51 unmeasured, bounds 0%-100%</td><td>0% (0/1)</td><td>0% (0/2)</td><td>0% (0/11)</td><td>0% (0/16356)</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>20</td><td>0</td><td>Not measured</td><td>764.27</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><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>0/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>0</td><td>0/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>0</td><td>0/16356</td><td>16356</td><td>16356</td><td>66.55</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>0</td><td>0/1</td><td>1/1</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_sm_handle_a01_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>6.38</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/sm_bucket_utility_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_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>1</td><td>0</td><td>0/11</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>0/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>0/2</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>0/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>0/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>0/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>0/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>0/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>0/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>0/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</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:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></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>3 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>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</td><td>pi</td><td>none</td><td>1</td><td>completed</td><td>80.54% (39/46)</td><td>31.01% (0.620225/2)</td><td>0.01% (0.000269547/2)</td><td>68.63% (35/51)</td><td>27.96% (0.279568/1)</td><td>13.6% (0.544129/4)</td><td>51.72% (15/29)</td><td>14.93% (2290/15341)</td><td>64</td><td>2</td><td>0</td><td>1689.59</td><td>1647.87</td><td>2916884</td><td>38207</td><td>2955091</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr><tr><td>bucket_utility_red_a01</td><td>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</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% (0/1)</td><td>Not measured (0/51), 51 unmeasured, bounds 0%-100%</td><td>0% (0/1)</td><td>0% (0/2)</td><td>0% (0/11)</td><td>0% (0/16356)</td><td>20</td><td>0</td><td>Not measured</td><td>764.27</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><td>Not measured</td></tr><tr><td>chair_office_amf_black_a01</td><td>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</td><td>pi</td><td>none</td><td>3</td><td>completed</td><td>86.74% (42/46)</td><td>0% (0/2)</td><td>0% (0/1)</td><td>70.59% (36/51)</td><td>0% (0/1)</td><td>0% (0/1)</td><td>N/A</td><td>1.76% (289/16384)</td><td>64</td><td>3</td><td>Not measured</td><td>2081.83</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><td>Not measured</td></tr></tbody></table></div><section id="attempt-1"><h2>accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / 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>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</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>80.54% (39/46)</td><td>31.01% (0.620225/2)</td><td>0.01% (0.000269547/2)</td><td>68.63% (35/51)</td><td>27.96% (0.279568/1)</td><td>13.6% (0.544129/4)</td><td>51.72% (15/29)</td><td>14.93% (2290/15341)</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>64</td><td>2</td><td>0</td><td>1689.59</td><td>1647.87</td><td>2916884</td><td>38207</td><td>2955091</td><td>Not measured</td><td>Not measured</td><td>Not measured</td></tr></tbody></table></div><p>39 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>27.96</td><td>0.279568/1</td><td>1</td><td>1</td><td>100</td></tr><tr><td>Rigid parts</td><td>13.6</td><td>0.544129/4</td><td>4</td><td>4</td><td>100</td></tr><tr><td>Joints</td><td>51.72</td><td>15/29</td><td>29</td><td>29</td><td>100</td></tr><tr><td>Materials</td><td>14.93</td><td>2290/15341</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>34.4</td><td>704.5/2048</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>0.18</td><td>0.0125754/7</td><td>7/7</td><td>100</td></tr><tr><td>Moving joints</td><td>0</td><td>4.04433e-05/4</td><td>4/4</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>/Sunglasses/Joints/LeftHinge</td><td>0</td><td>80.89</td><td>measured_motion</td></tr><tr><td>/RootNode/Joints/joint_glass_01_joint_00</td><td>/Sunglasses/Joints/LensToLeftFront</td><td>0.63</td><td>41.93</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>18.31</td><td>59.08</td><td>2048</td><td>3.34</td><td>27.62</td><td>71.3</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>/Sunglasses/LeftTemple</td><td>6.58</td></tr><tr><td>/RootNode/Geometry/arm_02_obj_00</td><td>/Sunglasses/RightLens</td><td>2.16</td></tr><tr><td>/RootNode/Geometry/base_01_obj_00</td><td>/Sunglasses/LeftFront</td><td>17.24</td></tr><tr><td>/RootNode/Geometry/glass_01_obj_00</td><td>/Sunglasses/LeftLens</td><td>28.43</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>8</td><td>15/29</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>4/4</td><td>4/4</td></tr><tr><td>body_kinematic</td><td>4/4</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>2/3</td><td>3/3</td></tr><tr><td>joint_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body0_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_enabled</td><td>2/3</td><td>3/3</td></tr><tr><td>body1_kinematic</td><td>2/3</td><td>3/3</td></tr><tr><td>anchors</td><td>0/3</td><td>3/3</td></tr><tr><td>axes</td><td>1/2</td><td>2/2</td></tr><tr><td>relative_orientation</td><td>2/3</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>1210/2048</td><td>59.08</td></tr><tr><td>visual:metallic</td><td>132/1005</td><td>13.13</td></tr><tr><td>visual:opacity</td><td>948/2048</td><td>46.29</td></tr></tbody></table></div><p class="artefacts"><a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/asset.usd">Generated USD</a> | <a href="assets/accessory_eyeglasses_a01/reconstruction-1/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/accessory_eyeglasses_a01/reconstruction-1/nvidia-validator.json">NVIDIA validation findings</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-front-3.png" alt="accessory_eyeglasses_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-front-6.png" alt="accessory_eyeglasses_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-isometric-2.png" alt="accessory_eyeglasses_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-isometric-5.png" alt="accessory_eyeglasses_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/matched-reference-reconstruction-contact-sheet-1.png" alt="accessory_eyeglasses_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/reference-side-4.png" alt="accessory_eyeglasses_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 1</figcaption></figure><figure><a href="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png"><img loading="lazy" src="evidence/accessory_eyeglasses_a01/reconstruction-1/candidate-side-7.png" alt="accessory_eyeglasses_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 1</figcaption></figure></div></section><section id="attempt-2"><h2>bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / 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>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</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% (0/1)</td><td>Not measured (0/51), 51 unmeasured, bounds 0%-100%</td><td>0% (0/1)</td><td>0% (0/2)</td><td>0% (0/11)</td><td>0% (0/16356)</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>20</td><td>0</td><td>Not measured</td><td>764.27</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><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>0/2</td><td>2</td><td>2</td><td>100</td></tr><tr><td>Joints</td><td>0</td><td>0/11</td><td>11</td><td>11</td><td>100</td></tr><tr><td>Materials</td><td>0</td><td>0/16356</td><td>16356</td><td>16356</td><td>66.55</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>0</td><td>0/1</td><td>1/1</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_sm_handle_a01_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>6.38</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/sm_bucket_utility_a01_obj_00</td><td>Not measured</td><td>0</td></tr><tr><td>/RootNode/Geometry/sm_handle_a01_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>1</td><td>0</td><td>0/11</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>0/2</td><td>2/2</td></tr><tr><td>body_kinematic</td><td>0/2</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>0/1</td><td>1/1</td></tr><tr><td>joint_enabled</td><td>0/1</td><td>1/1</td></tr><tr><td>body0_enabled</td><td>0/1</td><td>1/1</td></tr><tr><td>body0_kinematic</td><td>0/1</td><td>1/1</td></tr><tr><td>body1_enabled</td><td>0/1</td><td>1/1</td></tr><tr><td>body1_kinematic</td><td>0/1</td><td>1/1</td></tr><tr><td>anchors</td><td>0/1</td><td>1/1</td></tr><tr><td>axes</td><td>0/1</td><td>1/1</td></tr><tr><td>relative_orientation</td><td>0/1</td><td>1/1</td></tr><tr><td>limits</td><td>0/1</td><td>1/1</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:diffuseColor</td><td>0/2020</td><td>0</td></tr><tr><td>visual:opacity</td><td>0/2048</td><td>0</td></tr></tbody></table></div></section><section id="attempt-3"><h2>chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3</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>nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten</td><td>pi</td><td>none</td><td>3</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>86.74% (42/46)</td><td>0% (0/2)</td><td>0% (0/1)</td><td>70.59% (36/51)</td><td>0% (0/1)</td><td>0% (0/1)</td><td>N/A</td><td>1.76% (289/16384)</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>64</td><td>3</td><td>Not measured</td><td>2081.83</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><td>Not measured</td></tr></tbody></table></div><p>42 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>1.76</td><td>289/16384</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>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>0/7</td><td>7/7</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></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>11.13</td><td>14.11</td><td>2048</td><td>12.29</td><td>110.57</td><td>163.72</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_chair_office_amf_a01_obj_00</td><td>/Chair/Backrest</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>7</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>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>289/2048</td><td>14.11</td></tr><tr><td>visual:diffuseColor</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/chair_office_amf_black_a01/reconstruction-3/candidate/asset.usd">Generated USD</a> | <a href="assets/chair_office_amf_black_a01/reconstruction-3/candidate/manifest.json">Asset package manifest</a> | <a href="evidence/chair_office_amf_black_a01/reconstruction-3/nvidia-validator.json">NVIDIA validation findings</a></p><h3>Matched captures</h3><div class="images"><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-front-3.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-front-3.png" alt="chair_office_amf_black_a01: Reference: front"></a><figcaption>Reference: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-front-6.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-front-6.png" alt="chair_office_amf_black_a01: Reconstruction: front"></a><figcaption>Reconstruction: front | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-isometric-2.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-isometric-2.png" alt="chair_office_amf_black_a01: Reference: isometric"></a><figcaption>Reference: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-isometric-5.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-isometric-5.png" alt="chair_office_amf_black_a01: Reconstruction: isometric"></a><figcaption>Reconstruction: isometric | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/matched-reference-reconstruction-contact-sheet-1.png" alt="chair_office_amf_black_a01: matched reference: reconstruction contact sheet"></a><figcaption>matched reference: reconstruction contact sheet | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/reference-side-4.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/reference-side-4.png" alt="chair_office_amf_black_a01: Reference: side"></a><figcaption>Reference: side | pi | none | repetition 3</figcaption></figure><figure><a href="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-side-7.png"><img loading="lazy" src="evidence/chair_office_amf_black_a01/reconstruction-3/candidate-side-7.png" alt="chair_office_amf_black_a01: Reconstruction: side"></a><figcaption>Reconstruction: side | pi | none | repetition 3</figcaption></figure></div></section></html>

runs/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/results.json

@@ -1,7 +1,7 @@
 {
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@@ -4636,9 +4636,2159 @@
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       },
       "authoring_protocol": "authoring-64-bounded-output-4096-v1-tools-bounded-v1-continue-length-v1"
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+          {
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+            "status": "pass",
+            "requirement_id": "com.nvidia.simready.NP.008",
+            "category": "asset_paths_and_naming",
+            "requirement_version": "0.1.0",
+            "base_credit_percent": 2.0652173913043477,
+            "weight": 1,
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+          },
+          {
+            "mandatory": true,
+            "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome",
+            "status": "pass",
+            "requirement_id": "com.nvidia.simready.RB.001",
+            "category": "rigid_body_collision",
+            "requirement_version": "0.1.0",
+            "base_credit_percent": 2.0652173913043477,
+            "weight": 1,
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+          },
+          {
+            "mandatory": true,
+            "status_basis": "pinned_NVIDIA_rule_execution_requirement_outcome",
+            "status": "pass",
+            "requirement_id": "com.nvidia.simready.RB.007",
+            "category": "rigid_body_collision",
+            "requirement_version": "0.1.0",
+            "base_credit_percent": 2.0652173913043477,
+            "weight": 1,
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+          },
+          {
+            "mandatory": true,
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+        "directory": "assets/chair_office_amf_black_a01/reconstruction-3/candidate",
+        "entrypoint": "assets/chair_office_amf_black_a01/reconstruction-3/candidate/asset.usd",
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+          "path": "chair_office_amf_black_a01/reconstruction-3/reference-front-3.png",
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+        {
+          "view": "reference / side",
+          "path": "chair_office_amf_black_a01/reconstruction-3/reference-side-4.png",
+          "sha256": "9661427c2c6989ab9667083d9a0093cb372d1768d3456c61aaa6a0a5ad555962",
+          "bytes": 16490
+        },
+        {
+          "view": "candidate / isometric",
+          "path": "chair_office_amf_black_a01/reconstruction-3/candidate-isometric-5.png",
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+        {
+          "view": "candidate / front",
+          "path": "chair_office_amf_black_a01/reconstruction-3/candidate-front-6.png",
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+          "bytes": 6215
+        },
+        {
+          "view": "candidate / side",
+          "path": "chair_office_amf_black_a01/reconstruction-3/candidate-side-7.png",
+          "sha256": "d4d782e0672924a4f74b9e878cedd036ee93d7bf5a57f364b93a125b26369011",
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+      "traces": [],
+      "nvidia_validator_report_file": {
+        "path": "evidence/chair_office_amf_black_a01/reconstruction-3/nvidia-validator.json",
+        "complete": true,
+        "findings_truncated": false,
+        "sha256": "15f7207e83855ddb316d7a1b9a40fdfb35e176e150a296c413a5a6ce624a5baa",
+        "bytes": 190874
+      },
+      "evaluation_completion": {
+        "schema": "simready-evaluation-completion/v1",
+        "complete": true,
+        "authoring_complete": true,
+        "missing": [],
+        "captures": "complete",
+        "recovery_scope": null
+      },
+      "reasoning_effort": "off",
+      "generation": {
+        "output_limit": "bounded",
+        "max_output_tokens": 4096,
+        "reasoning_effort": "off"
+      },
+      "authoring_protocol": "authoring-64-bounded-output-4096-v1-tools-bounded-v1-continue-length-v1"
     }
   ],
-  "authored_conditions": 2,
-  "evaluated_conditions": 2,
+  "authored_conditions": 3,
+  "evaluated_conditions": 3,
   "benchmark_complete": false
 }

runs/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/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-5b943d685f27ebba30f68b8c1c43cafabdd6311a93e9fb1fb4418c7ca28e9932,accessory_eyeglasses_a01,nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten,pi,none,1,completed,80.54347826086956,31.01124699269774,0.013477358583760729,80.54347826086956,39,46,7,0,80.54347826086956,80.54347826086956,0,68.62745098039215,35,16,0,51,51,1.0,68.62745098039215,68.62745098039215,27.956797121451103,13.603223771275129,51.724137931034484,14.927318949221041,1.0,1.0,1.0,0.6242268880208334,complete,measured,39,46,46,1.0,80.54347826086956,80.54347826086956,measured,0.6202249398539548,2,2,1.0,31.01124699269774,31.01124699269774,measured,0.0002695471716752146,2,2,1.0,0.013477358583760729,0.013477358583760729,34.3994140625,measured,704.5,2048,2048,1.0,34.3994140625,34.3994140625,3,8,2,1,6,0.0010110829860744029,measured,4.044331944297611e-05,4,4,1.0,0.0010110829860744029,0.0010110829860744029,0.17964815637981935,measured,0.012575370946587354,7,7,1.0,0.17964815637981935,0.17964815637981935,0.27956797121451105,1,1,measured,0.5441289508510052,4,4,measured,15,29,29,measured,2290,15341,15341,measured,0.18310546875,0.5908203125,2048,13.603223771275129,80.0,8,10,3,8,64,2,0,1689.5921445899876,1647.8688580578892,2916884,38207,2955091,,,
 condition-5e8aecdd4b0c4512692819396b9e5a2b8c6d3920e91772172a5bdcd5711716ba,bucket_utility_red_a01,nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten,pi,none,2,completed,0.0,0.0,0.0,0.0,0,46,46,0,0.0,0.0,0,,0,0,51,51,0,0.0,0.0,100.0,0.0,0.0,0.0,0.0,1.0,1.0,1.0,0.66552734375,complete,measured,0,46,46,1.0,0.0,0.0,measured,0.0,2,2,1.0,0.0,0.0,measured,0.0,1,1,1.0,0.0,0.0,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,1,0,0,1,0,0.0,measured,0.0,1,1,1.0,0.0,0.0,,not_applicable,0,0,0,0,,,0.0,1,1,measured,0.0,2,2,measured,0,11,11,measured,0,16356,16356,measured,0.0,0.0,2048,0.0,0.0,0,6,1,0,20,0,,764.2727252640761,,,,,,,
+condition-1a04337035fd4054de17da703d25d9e333e0a9debdf454217b0e1d3c1d2d4846,chair_office_amf_black_a01,nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten,pi,none,3,completed,86.73913043478261,0.0,0.0,86.73913043478261,42,46,4,0,86.73913043478261,86.73913043478261,0,70.58823529411765,36,15,0,51,51,1.0,70.58823529411765,70.58823529411765,0.0,0.0,,1.763916015625,1.0,1.0,0,0.6666666666666666,complete,measured,42,46,46,1.0,86.73913043478261,86.73913043478261,measured,0.0,2,2,1.0,0.0,0.0,measured,0.0,1,1,1.0,0.0,0.0,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,0,7,0,0,7,,not_applicable,0,0,0,0,,,0.0,measured,0,7,7,1.0,0.0,0.0,0.0,1,1,measured,0.0,1,1,measured,0,0,0,not_applicable,289,16384,16384,measured,0.111328125,0.14111328125,2048,0.0,50.0,2,4,0,7,64,3,,2081.8297497989843,,,,,,,

viewer-index.json

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viewer/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/by_asset/chair_office_amf_black_a01.parquet

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