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"simready.validate", + "message": "Registering feature 'FET_022_STANDARD' version '0.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_028_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_ROBOT_PHYSX' version '0.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_033_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_011_STANDARD' version '0.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_003_STANDARD' version '0.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_NEWTON' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_041_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_024_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_045_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_MUJOCO' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_000_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_004_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_003_MUJOCO' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_030_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_ISAAC' version '0.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_000_STANDARD' version '0.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_021_ISAAC' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_006_MDL' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_MUJOCO' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_024_NEWTON' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_031_STANDARD' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_000_ISAAC' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_006_MDL' version '0.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_022_ISAAC' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_000_PHYSX' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_000_MUJOCO' version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 'FET_100_ISAAC' version '0.3.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering feature 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version '0.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.0.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '3.3.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robotics-Prop' version '4.0.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package' version '1.0.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-NoBOM' version '1.0.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.0.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Package-Candidate' version '1.3.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.0.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.1.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '2.2.0' from " + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Registering profile 'Robot-Gripper' version '3.0.0' from " + }, + { + "level": "WARNING", + "logger": "root", + "message": "DeprecationWarning: Use find() instead" + }, + { + "level": "WARNING", + "logger": "root", + "message": "File , line 485, in _build_features_validation_summary" + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.SR.001'] did not pass for feature FET_000_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.RV.004', 'com.nvidia.simready.SR.001'] did not pass for feature FET_000_NEWTON." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Failed requirements ['com.nvidia.simready.RB.007'] preclude feature FET_003_NEWTON." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.GSP.001', 'com.nvidia.simready.PMT.001'] did not pass for feature 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preclude feature FET_011_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Failed requirements ['com.nvidia.simready.RB.007'] preclude feature FET_004_PHYSX." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.RB.011', 'com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_PHYSX." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Failed requirements ['com.nvidia.simready.RB.007'] preclude feature FET_003_MUJOCO." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.MUJOCO.COL.001'] did not pass for feature FET_003_MUJOCO." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.RV.001', 'com.nvidia.simready.SR.001'] did not pass for feature FET_000_PHYSX." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Failed requirements ['com.nvidia.simready.SR.004'] preclude feature FET_033_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Failed requirements ['com.nvidia.simready.RB.007'] preclude feature FET_004_MUJOCO." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.011', 'com.nvidia.simready.RB.MB.001'] did not pass for feature FET_004_MUJOCO." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003'] did not pass for feature FET_007_STANDARD." + }, + { + "level": "INFO", + "logger": "simready.validate", + "message": "Optional requirements ['com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003'] did not pass for feature FET_006_OPENPBR." + }, + { + "level": "INFO", + "logger": 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a/runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/report.html +++ b/runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/report.html @@ -1 +1 @@ -SimReadyBench results

SimReadyBench results

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.

13 of 100 reconstruction attempts completed.

13 of 100 evaluations complete, including applicable fidelity measurements and captures.

Scores CSV | Detailed results JSON

Results by asset

AssetModelHarnessSkillsRepetitionStatusFormal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
accessory_eyeglasses_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed0% (0/46)0% (0/2)0% (0/2)0% (0/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)16112544.522518.66Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
accessory_eyeglasses_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone4completed90.87% (44/46)0% (0/2)0% (0/2)72.55% (37/51)13.17% (0.131668/1)5.08% (0.203134/4)44.83% (13/29)2.82% (432/15341)47533835.813785.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed100% (46/46)0% (0/2)N/A70.59% (36/51)29.61% (0.296145/1)29.61% (0.296145/1)N/A3.12% (447/14336)505234173375.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed88.8% (43/46)0% (0/2)N/A64.71% (33/51)51.16% (0.511552/1)51.16% (0.511552/1)N/A5.69% (816/14336)49513897.753856.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed100% (46/46)0% (0/2)N/A68.63% (35/51)62.97% (0.629664/1)62.97% (0.629664/1)N/A8.45% (1211/14336)49413802.993763.28Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed84.67% (41/46)0% (0/2)0% (0/1)66.67% (34/51)5.65% (0.0564511/1)2.88% (0.0575146/2)45.45% (5/11)0.84% (137/16356)64244421.344373.89Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed90.87% (44/46)0% (0/2)N/A66.67% (34/51)7.74% (0.077388/1)7.74% (0.077388/1)N/A1.03% (168/16384)64333851.593805.03Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed90.87% (44/46)0% (0/2)N/A70.59% (36/51)57.16% (0.571639/1)57.16% (0.571639/1)N/A5.84% (837/14336)64424630.484577.59Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)52523333.453295.67Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)64534428.844378.34Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed88.8% (43/46)0% (0/2)N/A66.67% (34/51)47.35% (0.473502/1)47.35% (0.473502/1)N/A4.49% (736/16384)64424624.284579.4Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed100% (46/46)0% (0/2)N/A68.63% (35/51)19.85% (0.198541/1)19.85% (0.198541/1)N/A2.17% (356/16384)51533476.643431.11Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
engineComponent_camshaft_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)20060.9543.1210067139102060.00494715Not measuredNot measured

accessory_eyeglasses_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/2)0% (0/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
16112544.522518.66Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/444100
Joints00/292929100
Materials00/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_arm_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020483.34Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00Not measured0
/RootNode/Geometry/arm_02_obj_00Not measured0
/RootNode/Geometry/base_01_obj_00Not measured0
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
300/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/44/4
body_kinematic0/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/33/3
joint_enabled0/33/3
body0_enabled0/33/3
body0_kinematic0/33/3
body1_enabled0/33/3
body1_kinematic0/33/3
anchors0/33/3
axes0/22/2
relative_orientation0/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:metallic0/10050
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

accessory_eyeglasses_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 4

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)0% (0/2)72.55% (37/51)13.17% (0.131668/1)5.08% (0.203134/4)44.83% (13/29)2.82% (432/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
47533835.813785.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape13.170.131668/111100
Rigid parts5.080.203134/444100
Joints44.8313/292929100
Materials2.82432/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints03.07236e-05/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Glasses/RightHinge092.09measured_motion
/RootNode/Joints/joint_arm_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
9.5721.0920483.3429.6382.57

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00Not measured0
/RootNode/Geometry/arm_02_obj_00/Glasses/RightTemple4.85
/RootNode/Geometry/base_01_obj_00/Glasses/Front15.46
/RootNode/Geometry/glass_01_obj_00/Glasses/LeftTemple0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3213/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes0/22/2
relative_orientation2/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment432/204821.09
visual:metallic0/10050
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

box_cardboard_open_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 1

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A70.59% (36/51)29.61% (0.296145/1)29.61% (0.296145/1)N/A3.12% (447/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
505234173375.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape29.610.296145/111100
Rigid parts29.610.296145/111100
JointsNot applicable0/0000
Materials3.12447/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
46.0421.8320489.761.19144.2

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/World/Box/Geometry29.61

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled0/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment447/204821.83
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

box_cardboard_open_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)N/A64.71% (33/51)51.16% (0.511552/1)51.16% (0.511552/1)N/A5.69% (816/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
49513897.753856.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape51.160.511552/111100
Rigid parts51.160.511552/111100
JointsNot applicable0/0000
Materials5.69816/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
71.4439.8420489.721.2923.68

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardBox51.16

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment816/204839.84
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

box_cardboard_open_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A68.63% (35/51)62.97% (0.629664/1)62.97% (0.629664/1)N/A8.45% (1211/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
49413802.993763.28Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape62.970.629664/111100
Rigid parts62.970.629664/111100
JointsNot applicable0/0000
Materials8.451211/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
67.3359.1320489.721.2822.4

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/World/CardboardBox62.97

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1211/204859.13
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

bucket_utility_red_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
84.67% (41/46)0% (0/2)0% (0/1)66.67% (34/51)5.65% (0.0564511/1)2.88% (0.0575146/2)45.45% (5/11)0.84% (137/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64244421.344373.89Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

41 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape5.650.0564511/111100
Rigid parts2.880.0575146/222100
Joints45.455/111111100
Materials0.84137/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/LeftHinge0Not measuredjoint_or_body_state_mismatch

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
4.886.6920486.3852.7660.01

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Body5.75
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Handle0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
125/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic0/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic0/11/1
body1_enabled1/11/1
body1_kinematic0/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment137/20486.69
visual:diffuseColor0/20200
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

chair_office_amf_black_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)N/A66.67% (34/51)7.74% (0.077388/1)7.74% (0.077388/1)N/A1.03% (168/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64333851.593805.03Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape7.740.077388/111100
Rigid parts7.740.077388/111100
JointsNot applicable0/0000
Materials1.03168/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
7.328.2204812.29106.49253.11

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/World/Chair7.74

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment168/20488.2
visual:diffuseColor0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 1

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)N/A70.59% (36/51)57.16% (0.571639/1)57.16% (0.571639/1)N/A5.84% (837/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64424630.484577.59Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape57.160.571639/111100
Rigid parts57.160.571639/111100
JointsNot applicable0/0000
Materials5.84837/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.0740.8720484.55.5412.23

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/World/Cloth/Mesh57.16

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment837/204840.87
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
52523333.453295.67Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials00/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020484.5Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:opacity0/20480

Generated USD | Asset package manifest

cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64534428.844378.34Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials00/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020484.5Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count1/11/1
body_enabled0/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

container_bottle_glass_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)N/A66.67% (34/51)47.35% (0.473502/1)47.35% (0.473502/1)N/A4.49% (736/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64424624.284579.4Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.350.473502/111100
Rigid parts47.350.473502/111100
JointsNot applicable0/0000
Materials4.49736/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
69.3835.9420484.5111.8623.6

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/asset/body/bottle47.35

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment736/204835.94
visual:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

container_bottle_glass_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A68.63% (35/51)19.85% (0.198541/1)19.85% (0.198541/1)N/A2.17% (356/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
51533476.643431.11Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape19.850.198541/111100
Rigid parts19.850.198541/111100
JointsNot applicable0/0000
Materials2.17356/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
23.1417.3820484.5110.2317.3

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/asset19.85

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment356/204817.38
visual:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

engineComponent_camshaft_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
20060.9543.1210067139102060.00494715Not measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials00/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020486.88Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:opacity0/20480
\ No newline at end of file +SimReadyBench results

SimReadyBench results

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.

14 of 100 reconstruction attempts completed.

14 of 100 evaluations complete, including applicable fidelity measurements and captures.

Scores CSV | Detailed results JSON

Results by asset

AssetModelHarnessSkillsRepetitionStatusFormal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
accessory_eyeglasses_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed0% (0/46)0% (0/2)0% (0/2)0% (0/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)16112544.522518.66Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
accessory_eyeglasses_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone4completed90.87% (44/46)0% (0/2)0% (0/2)72.55% (37/51)13.17% (0.131668/1)5.08% (0.203134/4)44.83% (13/29)2.82% (432/15341)47533835.813785.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed100% (46/46)0% (0/2)N/A70.59% (36/51)29.61% (0.296145/1)29.61% (0.296145/1)N/A3.12% (447/14336)505234173375.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed88.8% (43/46)0% (0/2)N/A64.71% (33/51)51.16% (0.511552/1)51.16% (0.511552/1)N/A5.69% (816/14336)49513897.753856.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed100% (46/46)0% (0/2)N/A68.63% (35/51)62.97% (0.629664/1)62.97% (0.629664/1)N/A8.45% (1211/14336)49413802.993763.28Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed84.67% (41/46)0% (0/2)0% (0/1)66.67% (34/51)5.65% (0.0564511/1)2.88% (0.0575146/2)45.45% (5/11)0.84% (137/16356)64244421.344373.89Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed90.87% (44/46)0% (0/2)N/A66.67% (34/51)7.74% (0.077388/1)7.74% (0.077388/1)N/A1.03% (168/16384)64333851.593805.03Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed90.87% (44/46)0% (0/2)N/A70.59% (36/51)57.16% (0.571639/1)57.16% (0.571639/1)N/A5.84% (837/14336)64424630.484577.59Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)52523333.453295.67Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)64534428.844378.34Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone4completed86.74% (42/46)0% (0/2)N/A66.67% (34/51)95.12% (0.951167/1)95.12% (0.951167/1)N/A13.37% (1917/14336)64524734.914685.8Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed88.8% (43/46)0% (0/2)N/A66.67% (34/51)47.35% (0.473502/1)47.35% (0.473502/1)N/A4.49% (736/16384)64424624.284579.4Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed100% (46/46)0% (0/2)N/A68.63% (35/51)19.85% (0.198541/1)19.85% (0.198541/1)N/A2.17% (356/16384)51533476.643431.11Not measuredNot measuredNot measuredNot measuredNot measuredNot measured
engineComponent_camshaft_a01Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)20060.9543.1210067139102060.00494715Not measuredNot measured

accessory_eyeglasses_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/2)0% (0/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
16112544.522518.66Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/444100
Joints00/292929100
Materials00/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints00/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_arm_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020483.34Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00Not measured0
/RootNode/Geometry/arm_02_obj_00Not measured0
/RootNode/Geometry/base_01_obj_00Not measured0
/RootNode/Geometry/glass_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
300/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/44/4
body_kinematic0/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/33/3
joint_enabled0/33/3
body0_enabled0/33/3
body0_kinematic0/33/3
body1_enabled0/33/3
body1_kinematic0/33/3
anchors0/33/3
axes0/22/2
relative_orientation0/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:metallic0/10050
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

accessory_eyeglasses_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 4

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)0% (0/2)72.55% (37/51)13.17% (0.131668/1)5.08% (0.203134/4)44.83% (13/29)2.82% (432/15341)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
47533835.813785.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape13.170.131668/111100
Rigid parts5.080.203134/444100
Joints44.8313/292929100
Materials2.82432/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving joints03.07236e-05/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00/Glasses/RightHinge092.09measured_motion
/RootNode/Joints/joint_arm_01_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_glass_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
9.5721.0920483.3429.6382.57

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00Not measured0
/RootNode/Geometry/arm_02_obj_00/Glasses/RightTemple4.85
/RootNode/Geometry/base_01_obj_00/Glasses/Front15.46
/RootNode/Geometry/glass_01_obj_00/Glasses/LeftTemple0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3213/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled3/44/4
body_kinematic3/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes0/22/2
relative_orientation2/33/3
limits0/22/2
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment432/204821.09
visual:metallic0/10050
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 4
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

box_cardboard_open_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 1

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A70.59% (36/51)29.61% (0.296145/1)29.61% (0.296145/1)N/A3.12% (447/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
505234173375.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape29.610.296145/111100
Rigid parts29.610.296145/111100
JointsNot applicable0/0000
Materials3.12447/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
46.0421.8320489.761.19144.2

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/World/Box/Geometry29.61

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled0/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment447/204821.83
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 1
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

box_cardboard_open_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)N/A64.71% (33/51)51.16% (0.511552/1)51.16% (0.511552/1)N/A5.69% (816/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
49513897.753856.82Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape51.160.511552/111100
Rigid parts51.160.511552/111100
JointsNot applicable0/0000
Materials5.69816/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
71.4439.8420489.721.2923.68

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/CardboardBox51.16

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment816/204839.84
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 2
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

box_cardboard_open_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A68.63% (35/51)62.97% (0.629664/1)62.97% (0.629664/1)N/A8.45% (1211/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
49413802.993763.28Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape62.970.629664/111100
Rigid parts62.970.629664/111100
JointsNot applicable0/0000
Materials8.451211/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
67.3359.1320489.721.2822.4

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/World/CardboardBox62.97

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1211/204859.13
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 3
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

bucket_utility_red_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
84.67% (41/46)0% (0/2)0% (0/1)66.67% (34/51)5.65% (0.0564511/1)2.88% (0.0575146/2)45.45% (5/11)0.84% (137/16356)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64244421.344373.89Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

41 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape5.650.0564511/111100
Rigid parts2.880.0575146/222100
Joints45.455/111111100
Materials0.84137/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/Bucket/LeftHinge0Not measuredjoint_or_body_state_mismatch

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
4.886.6920486.3852.7660.01

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/Bucket/Body5.75
/RootNode/Geometry/sm_handle_a01_01_obj_00/Bucket/Handle0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
125/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic0/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic0/11/1
body1_enabled1/11/1
body1_kinematic0/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment137/20486.69
visual:diffuseColor0/20200
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 3
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

chair_office_amf_black_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)N/A66.67% (34/51)7.74% (0.077388/1)7.74% (0.077388/1)N/A1.03% (168/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64333851.593805.03Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape7.740.077388/111100
Rigid parts7.740.077388/111100
JointsNot applicable0/0000
Materials1.03168/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
7.328.2204812.29106.49253.11

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/World/Chair7.74

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment168/20488.2
visual:diffuseColor0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

chair_office_amf_black_a01: Reference: front
Reference: front | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 2
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 1

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)N/A70.59% (36/51)57.16% (0.571639/1)57.16% (0.571639/1)N/A5.84% (837/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64424630.484577.59Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape57.160.571639/111100
Rigid parts57.160.571639/111100
JointsNot applicable0/0000
Materials5.84837/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
95.0740.8720484.55.5412.23

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/World/Cloth/Mesh57.16

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment837/204840.87
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 1
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
52523333.453295.67Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials00/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020484.5Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:opacity0/20480

Generated USD | Asset package manifest

cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64534428.844378.34Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials00/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020484.5Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count1/11/1
body_enabled0/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

cleaning_cloth_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 4

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
86.74% (42/46)0% (0/2)N/A66.67% (34/51)95.12% (0.951167/1)95.12% (0.951167/1)N/A13.37% (1917/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64524734.914685.8Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

42 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape95.120.951167/111100
Rigid parts95.120.951167/111100
JointsNot applicable0/0000
Materials13.371917/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
96.6893.620484.52.264.48

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/World/cloth95.12

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment1917/204893.6
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 4
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

container_bottle_glass_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)N/A66.67% (34/51)47.35% (0.473502/1)47.35% (0.473502/1)N/A4.49% (736/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
64424624.284579.4Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.350.473502/111100
Rigid parts47.350.473502/111100
JointsNot applicable0/0000
Materials4.49736/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
69.3835.9420484.5111.8623.6

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/asset/body/bottle47.35

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment736/204835.94
visual:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 2
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

container_bottle_glass_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 3

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)0% (0/2)N/A68.63% (35/51)19.85% (0.198541/1)19.85% (0.198541/1)N/A2.17% (356/16384)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
51533476.643431.11Not measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape19.850.198541/111100
Rigid parts19.850.198541/111100
JointsNot applicable0/0000
Materials2.17356/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
23.1417.3820484.5110.2317.3

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/asset19.85

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled1/11/1
body_kinematic1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment356/204817.38
visual:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

container_bottle_glass_a01: Reference: front
Reference: front | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
container_bottle_glass_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
container_bottle_glass_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
container_bottle_glass_a01: Reference: side
Reference: side | pi | none | repetition 3
container_bottle_glass_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

engineComponent_camshaft_a01 / Qwen/Qwen3.5-397B-A17B:deepinfra / repetition 2

ModelHarnessSkillsRepetitionStatus
Qwen/Qwen3.5-397B-A17B:deepinfrapinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/A0% (0/51)0% (0/1)0% (0/1)N/A0% (0/14336)

Requests, timing and costs

Model requestsValidation callsRequest errorsElapsed time (s)Model request time (s)Input tokensOutput tokensTotal tokensInference cost (USD)Compute cost (USD)Total cost (USD)
20060.9543.1210067139102060.00494715Not measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials00/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020486.88Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
000/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/11/1
body_kinematic0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:opacity0/20480
\ No newline at end of file diff --git a/runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/results.json b/runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/results.json index 09451b8f21c361178b7ae43b286a68a0baa226b3..ae5630926e6632df7eef328d24fa18f8434fc00f 100644 --- a/runs/nv25-qwen35-397b-off-pi-turn64-output4096-local-20261022/results.json +++ b/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": 13, + "completed_conditions": 14, "partial": true, "settings": { "settings_schema": "simready-bench-public-settings-v2", @@ -21685,6 +21685,2172 @@ }, "authoring_protocol": "authoring-64-bounded-output-4096-v1-tools-bounded-v1-continue-length-v1" }, + { + "condition_id": "condition-acf5db4ae6a06f6dbb1291c2470931e20950d495b30733354e03820817ba11d0", + "asset_id": "cleaning_cloth_a01", + "requested_model": "Qwen/Qwen3.5-397B-A17B:deepinfra", + "harness_id": "pi", + "skill_set_id": "none", + "repetition": 3, + "status": "completed", + "formal_fidelity_percent": 86.73913043478261, + "visual_fidelity_percent": 0.0, + "kinematic_fidelity_percent": null, + "simready_reward": 86.73913043478261, + "mandatory_passed": 42, + "mandatory_total": 46, + "mandatory_failed": 4, + "mandatory_unknown": 0, + "mandatory_lower_bound_percent": 86.73913043478261, + "mandatory_upper_bound_percent": 86.73913043478261, + "completion_bonus": 0, + "optional_score_percent": 66.66666666666667, + "optional_passed": 34, + "optional_failed": 17, + "optional_unknown": 0, + "optional_total": 51, + "optional_measured": 51, + "optional_coverage": 1.0, + "optional_lower_bound_percent": 66.66666666666667, + "optional_upper_bound_percent": 66.66666666666667, + "fidelity_shape_percent": 95.11673643187068, + "fidelity_rigid_parts_percent": 95.11673643187068, + "fidelity_joints_percent": null, + "fidelity_materials_percent": 13.371930803571429, + "fidelity_shape_coverage": 1.0, + "fidelity_rigid_parts_coverage": 1.0, + "fidelity_joints_coverage": 0, + "fidelity_materials_coverage": 0.5833333333333334, + "fidelity_reference_geometry_status": "complete", + "formal_fidelity_status": "measured", + "formal_fidelity_earned": 42, + "formal_fidelity_eligible": 46, + "formal_fidelity_measured": 46, + "formal_fidelity_coverage": 1.0, + "formal_fidelity_lower_bound_percent": 86.73913043478261, + "formal_fidelity_upper_bound_percent": 86.73913043478261, + "visual_fidelity_status": "measured", + "visual_fidelity_earned": 0.0, + "visual_fidelity_eligible": 2, + "visual_fidelity_measured": 2, + "visual_fidelity_coverage": 1.0, + "visual_fidelity_lower_bound_percent": 0.0, + "visual_fidelity_upper_bound_percent": 0.0, + "kinematic_fidelity_status": "not_applicable", + "kinematic_fidelity_earned": 0, + "kinematic_fidelity_eligible": 0, + "kinematic_fidelity_measured": 0, + "kinematic_fidelity_coverage": 0, + "kinematic_fidelity_lower_bound_percent": null, + "kinematic_fidelity_upper_bound_percent": null, + "visual_appearance_percent": 0.0, + "visual_appearance_status": "measured", + "visual_appearance_earned": 0.0, + "visual_appearance_eligible": 2048, + "visual_appearance_measured": 2048, + "visual_appearance_coverage": 1.0, + "visual_appearance_lower_bound_percent": 0.0, + "visual_appearance_upper_bound_percent": 0.0, + "kinematic_reference_joint_count": 0, + "kinematic_candidate_joint_count": 0, + "kinematic_matched_joint_count": 0, + "kinematic_missing_joint_count": 0, + "kinematic_extra_joint_count": 0, + "kinematic_moving_joints_percent": null, + "kinematic_moving_joints_status": "not_applicable", + "kinematic_moving_joints_earned": 0, + "kinematic_moving_joints_eligible": 0, + "kinematic_moving_joints_measured": 0, + "kinematic_moving_joints_coverage": 0, + "kinematic_moving_joints_lower_bound_percent": null, + "kinematic_moving_joints_upper_bound_percent": null, + "kinematic_fixed_constraints_percent": null, + "kinematic_fixed_constraints_status": "not_applicable", + "kinematic_fixed_constraints_earned": 0, + "kinematic_fixed_constraints_eligible": 0, + "kinematic_fixed_constraints_measured": 0, + "kinematic_fixed_constraints_coverage": 0, + "kinematic_fixed_constraints_lower_bound_percent": null, + "kinematic_fixed_constraints_upper_bound_percent": null, + "fidelity_shape_earned": 0.9511673643187067, + "fidelity_shape_eligible": 1, + "fidelity_shape_measured": 1, + "fidelity_shape_status": "measured", + "fidelity_rigid_parts_earned": 0.9511673643187067, + "fidelity_rigid_parts_eligible": 1, + "fidelity_rigid_parts_measured": 1, + "fidelity_rigid_parts_status": "measured", + "fidelity_joints_earned": 0, + "fidelity_joints_eligible": 0, + "fidelity_joints_measured": 0, + "fidelity_joints_status": "not_applicable", + "fidelity_materials_earned": 1917, + "fidelity_materials_eligible": 14336, + "fidelity_materials_measured": 14336, + "fidelity_materials_status": "measured", + "fidelity_shape_precision": 0.966796875, + "fidelity_shape_recall": 0.93603515625, + "fidelity_shape_samples_each_direction": 2048, + "fidelity_rigid_parts_geometry_percent": 95.11673643187068, + "fidelity_rigid_parts_structure_percent": 100.0, + "fidelity_rigid_parts_structure_earned": 4, + "fidelity_rigid_parts_structure_eligible": 4, + "fidelity_joints_reference_count": 0, + "fidelity_joints_candidate_count": 0, + "inference_calls_used": 64, + "validation_calls_used": 5, + "model_request_errors": 2, + "elapsed_seconds": 4734.907469530008, + "model_request_seconds": 4685.795954529196, + "input_tokens": null, + "output_tokens": null, + "total_tokens": null, + "inference_cost_usd": null, + "compute_cost_usd": null, + "total_cost_usd": null, + "seed": 1595550069, + "scoring_policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1", + "official_conformance_passed": false, + "inference_cost_kind": null, + "usage_reconstruction": null, + "request_recovery": { + "disposition": "verified_recovered", + "episode_id": "89bd06d8-3035-4fbc-b0f3-3298546b21d7", + "evaluation_binding": "b2ad4f7804517ac63c76f441683bee1f16116c61495541b5d4cadc7a5a58a407", + "native_session_sha256": "59d6ebe98f915856a27fcb70c44777168183ee74eb601414bdefa1dc48fc9bf8", + "resolved_request_ids": [ + "ca23bc98b8964530a496b198c4ba53e1", + "bcfaf92d9e3841f9971141b6631017f6" + ], + "response_id": "chatcmpl-RQSe7ISCHvHAH71ZMKlUNzUc", + "schema": "simready-request-recovery-v1", + "snapshot_id": "e8f380e81fb54dafa9539b57ad30a9cc", + "snapshot_sha256": "beb9decb821b579155c1d61201b3ca4d6b20d2e0ae19af6c5440547f8a32a818", + "successful_request_id": "15330f6513bb4d2ea3e98f447a59b54e" + }, + "provenance_coverage": { + "status": "legacy_unbound", + "missing": [ + "run_spec", + "attempt_receipt" + ] + }, + "simready": { + "schema": "simready-validator-score-v1", + "policy_id": "NVIDIA-Robotics-Prop-4.0.0-mandatory-95-plus-5-v1", + "policy_sha256": 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