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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.

26 of 100 reconstruction attempts completed.

26 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_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed80.54% (39/46)31.01% (0.620225/2)0.01% (0.000269547/2)68.63% (35/51)27.96% (0.279568/1)13.6% (0.544129/4)51.72% (15/29)14.93% (2290/15341)64201689.591647.872916884382072955091Not measuredNot measuredNot measured
accessory_eyeglasses_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed92.93% (45/46)0% (0/2)0% (0/2)72.55% (37/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)642Not measured2191.3Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
accessory_eyeglasses_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)0% (0/2)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/4)0% (0/29)0% (0/15341)641Not measured2185.42Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
accessory_eyeglasses_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed80.54% (39/46)0% (0/2)0% (0/2)78.43% (40/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)641Not measured2419.57Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)643Not measured3302.23Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)641Not measured2757.95Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)643Not measured2752.57Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed86.74% (42/46)19.78% (0.395539/2)0% (0/1)70.59% (36/51)17.84% (0.178403/1)19.47% (0.194702/1)N/A6.26% (898/14336)642Not measured2939.97Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)0% (0/2)0% (1.57285e-06/1)72.55% (37/51)0% (0/1)0% (0/2)72.73% (8/11)5.78% (946/16356)645Not measured2750.39Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/11)0% (0/16356)200Not measured764.27Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed88.8% (43/46)10.43% (0.208538/2)0% (0/1)70.59% (36/51)15.85% (0.158476/1)7.98% (0.1597/2)63.64% (7/11)3.35% (548/16356)643Not measured3574.1Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed90.87% (44/46)0% (0/2)0% (0/2)80.39% (41/51)13.2% (0.132029/1)4.59% (0.0918298/2)54.55% (6/11)1.46% (238/16356)645Not measured3027.25Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)0% (0/2)0% (0/2)66.67% (34/51)12.94% (0.129355/1)12.84% (0.128444/1)N/A2.08% (340/16384)642Not measured2364.49Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)641Not measured2816Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed86.74% (42/46)0% (0/2)0% (0/1)70.59% (36/51)0% (0/1)0% (0/1)N/A1.76% (289/16384)643Not measured2081.83Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)645Not measured2363.8Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)26.28% (0.525624/2)N/A68.63% (35/51)32.59% (0.325935/1)32.59% (0.325935/1)N/A6.05% (868/14336)645Not measured2901.33Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed100% (46/46)26.75% (0.534961/2)N/A72.55% (37/51)33.23% (0.332258/1)33.23% (0.332258/1)N/A6.15% (882/14336)524Not measured2461.91Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)643Not measured2931.04Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)485Not measured2301.11Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)641Not measured3261.58Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed86.74% (42/46)0% (0/2)N/A80.39% (41/51)47.65% (0.476522/1)47.65% (0.476522/1)N/A0% (0/16384)643Not measured2465.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)641Not measured3034.56Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)642Not measured3151.84Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
engineComponent_camshaft_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)0% (0/2)0% (0/2)74.51% (38/51)0% (0/1)0% (0/1)N/A0% (0/14336)545Not measured2588.63Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
food_beverage_coffeeCup_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/9)0% (0/20480)642Not measured1823.17Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
80.54% (39/46)31.01% (0.620225/2)0.01% (0.000269547/2)68.63% (35/51)27.96% (0.279568/1)13.6% (0.544129/4)51.72% (15/29)14.93% (2290/15341)

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)
64201689.591647.872916884382072955091Not measuredNot measuredNot measured

39 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape27.960.279568/111100
Rigid parts13.60.544129/444100
Joints51.7215/292929100
Materials14.932290/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
34.4704.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints0.180.0125754/77/7100
Moving joints04.04433e-05/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/Joints/LeftHinge080.89measured_motion
/RootNode/Joints/joint_glass_01_joint_00/Sunglasses/Joints/LensToLeftFront0.6341.93measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
18.3159.0820483.3427.6271.3

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/LeftTemple6.58
/RootNode/Geometry/arm_02_obj_00/Sunglasses/RightLens2.16
/RootNode/Geometry/base_01_obj_00/Sunglasses/LeftFront17.24
/RootNode/Geometry/glass_01_obj_00/Sunglasses/LeftLens28.43

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3815/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes1/22/2
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:assignment1210/204859.08
visual:metallic132/100513.13
visual:opacity948/204846.29

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
92.93% (45/46)0% (0/2)0% (0/2)72.55% (37/51)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)
642Not measured2191.3Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

45 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 joints00/44/4100
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)
0020483.3442.9101.77

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/TempleL0
/RootNode/Geometry/arm_02_obj_00/Sunglasses/TempleR0
/RootNode/Geometry/base_01_obj_00Not measured0
/RootNode/Geometry/glass_01_obj_00/Sunglasses/FrontFrame0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
320/29

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_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

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/2)Not measured (0/51), 51 unmeasured, bounds 0%-100%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)
641Not measured2185.42Not measuredNot 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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
80.54% (39/46)0% (0/2)0% (0/2)78.43% (40/51)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)
641Not measured2419.57Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

39 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 constraints00/66/6100
Moving joints00/44/4100
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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
643Not measured3302.23Not measuredNot 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)
0020489.7Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
641Not measured2757.95Not measuredNot 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)
0020489.7Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
643Not measured2752.57Not measuredNot 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)
0020489.7Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
86.74% (42/46)19.78% (0.395539/2)0% (0/1)70.59% (36/51)17.84% (0.178403/1)19.47% (0.194702/1)N/A6.26% (898/14336)

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)
642Not measured2939.97Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

42 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape17.840.178403/111100
Rigid parts19.470.194702/111100
JointsNot applicable0/0000
Materials6.26898/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
21.92449/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
15.0421.9220489.764.09161.61

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/asset/Box19.47

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
010/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
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:assignment449/204821.92
visual:opacity449/204821.92

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)0% (1.57285e-06/1)72.55% (37/51)0% (0/1)0% (0/2)72.73% (8/11)5.78% (946/16356)

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)
645Not measured2750.39Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/222100
Joints72.738/111111100
Materials5.78946/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
11.65238.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints03.1457e-06/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/World/Bucket/HandleJoint0343.56measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
18.3623.120486.3832.1955.78

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/World/Bucket/Body/Geo0
/RootNode/Geometry/sm_handle_a01_01_obj_00/World/Bucket/Handle/Geo0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment473/204823.1
visual:diffuseColor0/20200
visual:opacity473/204823.1

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/11)0% (0/16356)

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)
200Not measured764.27Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/222100
Joints00/111111100
Materials00/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020486.38Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00Not measured0
/RootNode/Geometry/sm_handle_a01_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
100/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/22/2
body_kinematic0/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/11/1
joint_enabled0/11/1
body0_enabled0/11/1
body0_kinematic0/11/1
body1_enabled0/11/1
body1_kinematic0/11/1
anchors0/11/1
axes0/11/1
relative_orientation0/11/1
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:assignment0/20480
visual:diffuseColor0/20200
visual:opacity0/20480

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)10.43% (0.208538/2)0% (0/1)70.59% (36/51)15.85% (0.158476/1)7.98% (0.1597/2)63.64% (7/11)3.35% (548/16356)

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)
643Not measured3574.1Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape15.850.158476/111100
Rigid parts7.980.1597/222100
Joints63.647/111111100
Materials3.35548/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
6.86140.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/World/Bucket/HandleJoint0Not measuredjoint_or_body_state_mismatch

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
19.4313.3820486.3821.1731.65

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/World/Bucket/Body15.97
/RootNode/Geometry/sm_handle_a01_01_obj_00/World/Bucket/Handle0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
117/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic1/22/2

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_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment274/204813.38
visual:diffuseColor0/20200
visual:opacity274/204813.38

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

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)0% (0/2)80.39% (41/51)13.2% (0.132029/1)4.59% (0.0918298/2)54.55% (6/11)1.46% (238/16356)

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)
645Not measured3027.25Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape13.20.132029/111100
Rigid parts4.590.0918298/222100
Joints54.556/111111100
Materials1.46238/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/55/5100
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
15.2811.6220486.3822.3446.39

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/bucket/body9.18
/RootNode/Geometry/sm_handle_a01_01_obj_00/bucket/rim0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
176/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
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:assignment238/204811.62
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 4
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)0% (0/2)66.67% (34/51)12.94% (0.129355/1)12.84% (0.128444/1)N/A2.08% (340/16384)

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)
642Not measured2364.49Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape12.940.129355/111100
Rigid parts12.840.128444/111100
JointsNot applicable0/0000
Materials2.08340/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/44/4100
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
10.616.6204812.2987.94176.81

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Assets/Chair/Seat12.84

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
070/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
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:assignment340/204816.6
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 1
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
641Not measured2816Not measuredNot 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
Materials00/16384163841638466.67

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)
00204812.29Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_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:diffuseColor0/20480
visual:opacity0/20480

Generated USD | Asset package manifest

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
86.74% (42/46)0% (0/2)0% (0/1)70.59% (36/51)0% (0/1)0% (0/1)N/A1.76% (289/16384)

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)
643Not measured2081.83Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

42 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials1.76289/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/77/7100
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)
11.1314.11204812.29110.57163.72

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/Backrest0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
070/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
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:assignment289/204814.11
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 3
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
645Not measured2363.8Not measuredNot 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
Materials00/16384163841638466.67

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)
00204812.29Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_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:diffuseColor0/20480
visual:opacity0/20480

Generated USD | Asset package manifest

cleaning_cloth_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)26.28% (0.525624/2)N/A68.63% (35/51)32.59% (0.325935/1)32.59% (0.325935/1)N/A6.05% (868/14336)

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)
645Not measured2901.33Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape32.590.325935/111100
Rigid parts32.590.325935/111100
JointsNot applicable0/0000
Materials6.05868/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
21.19434/2048measured

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)
70.5621.1920484.55.669.38

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/Towel/towelMesh32.59

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:assignment434/204821.19
visual:opacity434/204821.19

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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)26.75% (0.534961/2)N/A72.55% (37/51)33.23% (0.332258/1)33.23% (0.332258/1)N/A6.15% (882/14336)

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)
524Not measured2461.91Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape33.230.332258/111100
Rigid parts33.230.332258/111100
JointsNot applicable0/0000
Materials6.15882/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
21.53441/2048measured

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)
72.7121.5320484.55.679.54

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/YellowCloth/ClothMesh33.23

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:assignment441/204821.53
visual:opacity441/204821.53

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

cleaning_cloth_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
643Not measured2931.04Not measuredNot 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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
485Not measured2301.11Not measuredNot 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

container_bottle_glass_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
641Not measured3261.58Not measuredNot 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
Materials00/16384163841638466.67

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)
0020484.51Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_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:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

container_bottle_glass_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
86.74% (42/46)0% (0/2)N/A80.39% (41/51)47.65% (0.476522/1)47.65% (0.476522/1)N/A0% (0/16384)

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)
643Not measured2465.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

42 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.650.476522/111100
Rigid parts47.650.476522/111100
JointsNot applicable0/0000
Materials00/16384163841638466.67

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)
66.4137.1620484.519.6414.39

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Asset/Vase47.65

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:assignment0/20480
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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
641Not measured3034.56Not measuredNot 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
Materials00/16384163841638466.67

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)
0020484.51Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_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:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

container_bottle_glass_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
642Not measured3151.84Not measuredNot 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
Materials00/16384163841638466.67

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)
0020484.51Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_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:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

engineComponent_camshaft_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)0% (0/2)74.51% (38/51)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)
545Not measured2588.63Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 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 constraints00/11/1100
Moving joints00/11/1100
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

Generated USD | Asset package manifest | NVIDIA validation findings

food_beverage_coffeeCup_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/9)0% (0/20480)

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)
642Not measured1823.17Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/222100
Joints00/999100
Materials00/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020482.68Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00Not measured0
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
100/9

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/22/2
body_kinematic0/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/11/1
joint_enabled0/11/1
body0_enabled0/11/1
body0_kinematic0/11/1
body1_enabled0/11/1
body1_kinematic0/11/1
anchors0/11/1
relative_orientation0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:diffuseColor0/20480
visual:metallic0/20480
visual:opacity0/20480
visual:roughness0/20480

Generated USD | Asset package manifest

\ 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.

27 of 100 reconstruction attempts completed.

27 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_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed80.54% (39/46)31.01% (0.620225/2)0.01% (0.000269547/2)68.63% (35/51)27.96% (0.279568/1)13.6% (0.544129/4)51.72% (15/29)14.93% (2290/15341)64201689.591647.872916884382072955091Not measuredNot measuredNot measured
accessory_eyeglasses_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed92.93% (45/46)0% (0/2)0% (0/2)72.55% (37/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)642Not measured2191.3Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
accessory_eyeglasses_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)0% (0/2)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/4)0% (0/29)0% (0/15341)641Not measured2185.42Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
accessory_eyeglasses_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed80.54% (39/46)0% (0/2)0% (0/2)78.43% (40/51)0% (0/1)0% (0/4)0% (0/29)0% (0/15341)641Not measured2419.57Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)643Not measured3302.23Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)641Not measured2757.95Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)643Not measured2752.57Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
box_cardboard_open_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed86.74% (42/46)19.78% (0.395539/2)0% (0/1)70.59% (36/51)17.84% (0.178403/1)19.47% (0.194702/1)N/A6.26% (898/14336)642Not measured2939.97Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)0% (0/2)0% (1.57285e-06/1)72.55% (37/51)0% (0/1)0% (0/2)72.73% (8/11)5.78% (946/16356)645Not measured2750.39Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/11)0% (0/16356)200Not measured764.27Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed88.8% (43/46)10.43% (0.208538/2)0% (0/1)70.59% (36/51)15.85% (0.158476/1)7.98% (0.1597/2)63.64% (7/11)3.35% (548/16356)643Not measured3574.1Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
bucket_utility_red_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed90.87% (44/46)0% (0/2)0% (0/2)80.39% (41/51)13.2% (0.132029/1)4.59% (0.0918298/2)54.55% (6/11)1.46% (238/16356)645Not measured3027.25Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)0% (0/2)0% (0/2)66.67% (34/51)12.94% (0.129355/1)12.84% (0.128444/1)N/A2.08% (340/16384)642Not measured2364.49Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)641Not measured2816Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed86.74% (42/46)0% (0/2)0% (0/1)70.59% (36/51)0% (0/1)0% (0/1)N/A1.76% (289/16384)643Not measured2081.83Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
chair_office_amf_black_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)645Not measured2363.8Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)26.28% (0.525624/2)N/A68.63% (35/51)32.59% (0.325935/1)32.59% (0.325935/1)N/A6.05% (868/14336)645Not measured2901.33Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed100% (46/46)26.75% (0.534961/2)N/A72.55% (37/51)33.23% (0.332258/1)33.23% (0.332258/1)N/A6.15% (882/14336)524Not measured2461.91Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)643Not measured2931.04Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
cleaning_cloth_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/14336)485Not measured2301.11Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)641Not measured3261.58Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed86.74% (42/46)0% (0/2)N/A80.39% (41/51)47.65% (0.476522/1)47.65% (0.476522/1)N/A0% (0/16384)643Not measured2465.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)641Not measured3034.56Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
container_bottle_glass_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)642Not measured3151.84Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
engineComponent_camshaft_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed88.8% (43/46)0% (0/2)0% (0/2)74.51% (38/51)0% (0/1)0% (0/1)N/A0% (0/14336)545Not measured2588.63Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
engineComponent_camshaft_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed90.87% (44/46)0% (0/2)0% (0/1)70.59% (36/51)0% (0/1)0% (0/1)N/A0.22% (31/14336)642Not measured3024.1Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured
food_beverage_coffeeCup_a01nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/9)0% (0/20480)642Not measured1823.17Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
80.54% (39/46)31.01% (0.620225/2)0.01% (0.000269547/2)68.63% (35/51)27.96% (0.279568/1)13.6% (0.544129/4)51.72% (15/29)14.93% (2290/15341)

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)
64201689.591647.872916884382072955091Not measuredNot measuredNot measured

39 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape27.960.279568/111100
Rigid parts13.60.544129/444100
Joints51.7215/292929100
Materials14.932290/15341153411534162.42

Appearance materials

Score (%)Earned/eligibleStatus
34.4704.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints0.180.0125754/77/7100
Moving joints04.04433e-05/44/4100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_arm_02_joint_00Not measured0Not measuredmissing_joint
/RootNode/Joints/joint_arm_01_joint_00/Sunglasses/Joints/LeftHinge080.89measured_motion
/RootNode/Joints/joint_glass_01_joint_00/Sunglasses/Joints/LensToLeftFront0.6341.93measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
18.3159.0820483.3427.6271.3

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/LeftTemple6.58
/RootNode/Geometry/arm_02_obj_00/Sunglasses/RightLens2.16
/RootNode/Geometry/base_01_obj_00/Sunglasses/LeftFront17.24
/RootNode/Geometry/glass_01_obj_00/Sunglasses/LeftLens28.43

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
3815/29

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled4/44/4
body_kinematic4/44/4

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity2/33/3
joint_enabled2/33/3
body0_enabled2/33/3
body0_kinematic2/33/3
body1_enabled2/33/3
body1_kinematic2/33/3
anchors0/33/3
axes1/22/2
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:assignment1210/204859.08
visual:metallic132/100513.13
visual:opacity948/204846.29

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 1
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
92.93% (45/46)0% (0/2)0% (0/2)72.55% (37/51)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)
642Not measured2191.3Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

45 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 joints00/44/4100
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)
0020483.3442.9101.77

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/arm_01_obj_00/Sunglasses/TempleL0
/RootNode/Geometry/arm_02_obj_00/Sunglasses/TempleR0
/RootNode/Geometry/base_01_obj_00Not measured0
/RootNode/Geometry/glass_01_obj_00/Sunglasses/FrontFrame0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
320/29

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_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

Matched captures

accessory_eyeglasses_a01: Reference: front
Reference: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
accessory_eyeglasses_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
accessory_eyeglasses_a01: Reference: side
Reference: side | pi | none | repetition 2
accessory_eyeglasses_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

accessory_eyeglasses_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/2)Not measured (0/51), 51 unmeasured, bounds 0%-100%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)
641Not measured2185.42Not measuredNot 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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
80.54% (39/46)0% (0/2)0% (0/2)78.43% (40/51)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)
641Not measured2419.57Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

39 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 constraints00/66/6100
Moving joints00/44/4100
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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
643Not measured3302.23Not measuredNot 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)
0020489.7Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
641Not measured2757.95Not measuredNot 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)
0020489.7Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
643Not measured2752.57Not measuredNot 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)
0020489.7Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_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

box_cardboard_open_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
86.74% (42/46)19.78% (0.395539/2)0% (0/1)70.59% (36/51)17.84% (0.178403/1)19.47% (0.194702/1)N/A6.26% (898/14336)

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)
642Not measured2939.97Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

42 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape17.840.178403/111100
Rigid parts19.470.194702/111100
JointsNot applicable0/0000
Materials6.26898/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
21.92449/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
15.0421.9220489.764.09161.61

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_box_a01_obj_00/asset/Box19.47

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
010/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
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:assignment449/204821.92
visual:opacity449/204821.92

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

box_cardboard_open_a01: Reference: front
Reference: front | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
box_cardboard_open_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
box_cardboard_open_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
box_cardboard_open_a01: Reference: side
Reference: side | pi | none | repetition 4
box_cardboard_open_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)0% (1.57285e-06/1)72.55% (37/51)0% (0/1)0% (0/2)72.73% (8/11)5.78% (946/16356)

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)
645Not measured2750.39Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/222100
Joints72.738/111111100
Materials5.78946/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
11.65238.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints03.1457e-06/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/World/Bucket/HandleJoint0343.56measured_motion

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
18.3623.120486.3832.1955.78

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/World/Bucket/Body/Geo0
/RootNode/Geometry/sm_handle_a01_01_obj_00/World/Bucket/Handle/Geo0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
118/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity1/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment473/204823.1
visual:diffuseColor0/20200
visual:opacity473/204823.1

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

bucket_utility_red_a01: Reference: front
Reference: front | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 1
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/11)0% (0/16356)

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)
200Not measured764.27Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/222100
Joints00/111111100
Materials00/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/11/1100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020486.38Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00Not measured0
/RootNode/Geometry/sm_handle_a01_01_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
100/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/22/2
body_kinematic0/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/11/1
joint_enabled0/11/1
body0_enabled0/11/1
body0_kinematic0/11/1
body1_enabled0/11/1
body1_kinematic0/11/1
anchors0/11/1
axes0/11/1
relative_orientation0/11/1
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:assignment0/20480
visual:diffuseColor0/20200
visual:opacity0/20480

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)10.43% (0.208538/2)0% (0/1)70.59% (36/51)15.85% (0.158476/1)7.98% (0.1597/2)63.64% (7/11)3.35% (548/16356)

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)
643Not measured3574.1Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape15.850.158476/111100
Rigid parts7.980.1597/222100
Joints63.647/111111100
Materials3.35548/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
6.86140.5/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraintsNot measured0/00/00
Moving joints00/22/2100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00/World/Bucket/HandleJoint0Not measuredjoint_or_body_state_mismatch

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
19.4313.3820486.3821.1731.65

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/World/Bucket/Body15.97
/RootNode/Geometry/sm_handle_a01_01_obj_00/World/Bucket/Handle0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
117/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count1/11/1
joint_inventory_count1/11/1
body_enabled2/22/2
body_kinematic1/22/2

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_kinematic1/11/1
anchors0/11/1
axes0/11/1
relative_orientation1/11/1
limits0/11/1
joint_count1/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment274/204813.38
visual:diffuseColor0/20200
visual:opacity274/204813.38

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

bucket_utility_red_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)0% (0/2)80.39% (41/51)13.2% (0.132029/1)4.59% (0.0918298/2)54.55% (6/11)1.46% (238/16356)

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)
645Not measured3027.25Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape13.20.132029/111100
Rigid parts4.590.0918298/222100
Joints54.556/111111100
Materials1.46238/16356163561635666.55

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/55/5100
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_handle_a01_01_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
15.2811.6220486.3822.3446.39

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_bucket_utility_a01_obj_00/bucket/body9.18
/RootNode/Geometry/sm_handle_a01_01_obj_00/bucket/rim0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
176/11

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled2/22/2
body_kinematic2/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/11/1
joint_enabled1/11/1
body0_enabled1/11/1
body0_kinematic1/11/1
body1_enabled1/11/1
body1_kinematic1/11/1
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:assignment238/204811.62
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 4
bucket_utility_red_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 4
bucket_utility_red_a01: Reference: isometric
Reference: isometric | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 4
bucket_utility_red_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 4
bucket_utility_red_a01: Reference: side
Reference: side | pi | none | repetition 4
bucket_utility_red_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 4

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)0% (0/2)66.67% (34/51)12.94% (0.129355/1)12.84% (0.128444/1)N/A2.08% (340/16384)

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)
642Not measured2364.49Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape12.940.129355/111100
Rigid parts12.840.128444/111100
JointsNot applicable0/0000
Materials2.08340/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/44/4100
Moving joints00/33/3100
Reference jointCandidate jointScore (%)Motion RMS (mm)Status

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
10.616.6204812.2987.94176.81

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Assets/Chair/Seat12.84

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
070/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
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:assignment340/204816.6
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 1
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 1
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 1
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 1
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 1
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 1

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
641Not measured2816Not measuredNot 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
Materials00/16384163841638466.67

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)
00204812.29Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_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:diffuseColor0/20480
visual:opacity0/20480

Generated USD | Asset package manifest

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
86.74% (42/46)0% (0/2)0% (0/1)70.59% (36/51)0% (0/1)0% (0/1)N/A1.76% (289/16384)

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)
643Not measured2081.83Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

42 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials1.76289/16384163841638466.67

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/77/7100
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)
11.1314.11204812.29110.57163.72

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_obj_00/Chair/Backrest0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
070/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
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:assignment289/204814.11
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 3
chair_office_amf_black_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 3
chair_office_amf_black_a01: Reference: isometric
Reference: isometric | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 3
chair_office_amf_black_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 3
chair_office_amf_black_a01: Reference: side
Reference: side | pi | none | repetition 3
chair_office_amf_black_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 3

chair_office_amf_black_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
645Not measured2363.8Not measuredNot 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
Materials00/16384163841638466.67

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)
00204812.29Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_chair_office_amf_a01_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:diffuseColor0/20480
visual:opacity0/20480

Generated USD | Asset package manifest

cleaning_cloth_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)26.28% (0.525624/2)N/A68.63% (35/51)32.59% (0.325935/1)32.59% (0.325935/1)N/A6.05% (868/14336)

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)
645Not measured2901.33Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape32.590.325935/111100
Rigid parts32.590.325935/111100
JointsNot applicable0/0000
Materials6.05868/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
21.19434/2048measured

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)
70.5621.1920484.55.669.38

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/Towel/towelMesh32.59

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:assignment434/204821.19
visual:opacity434/204821.19

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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
100% (46/46)26.75% (0.534961/2)N/A72.55% (37/51)33.23% (0.332258/1)33.23% (0.332258/1)N/A6.15% (882/14336)

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)
524Not measured2461.91Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

46 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape33.230.332258/111100
Rigid parts33.230.332258/111100
JointsNot applicable0/0000
Materials6.15882/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
21.53441/2048measured

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)
72.7121.5320484.55.679.54

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/cleaningCloth_01_obj_00/YellowCloth/ClothMesh33.23

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:assignment441/204821.53
visual:opacity441/204821.53

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

cleaning_cloth_a01: Reference: front
Reference: front | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
cleaning_cloth_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
cleaning_cloth_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
cleaning_cloth_a01: Reference: side
Reference: side | pi | none | repetition 2
cleaning_cloth_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

cleaning_cloth_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
643Not measured2931.04Not measuredNot 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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%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)
485Not measured2301.11Not measuredNot 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

container_bottle_glass_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
641Not measured3261.58Not measuredNot 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
Materials00/16384163841638466.67

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)
0020484.51Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_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:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

container_bottle_glass_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
86.74% (42/46)0% (0/2)N/A80.39% (41/51)47.65% (0.476522/1)47.65% (0.476522/1)N/A0% (0/16384)

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)
643Not measured2465.44Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

42 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape47.650.476522/111100
Rigid parts47.650.476522/111100
JointsNot applicable0/0000
Materials00/16384163841638466.67

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)
66.4137.1620484.519.6414.39

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_01_obj_00/Asset/Vase47.65

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:assignment0/20480
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 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
641Not measured3034.56Not measuredNot 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
Materials00/16384163841638466.67

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)
0020484.51Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_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:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

container_bottle_glass_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 4

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone4completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)N/ANot measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/1)N/A0% (0/16384)

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)
642Not measured3151.84Not measuredNot 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
Materials00/16384163841638466.67

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)
0020484.51Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/bottle_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:metallic0/20480
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

engineComponent_camshaft_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 1

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone1completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
88.8% (43/46)0% (0/2)0% (0/2)74.51% (38/51)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)
545Not measured2588.63Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

43 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 constraints00/11/1100
Moving joints00/11/1100
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

Generated USD | Asset package manifest | NVIDIA validation findings

engineComponent_camshaft_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 2

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone2completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
90.87% (44/46)0% (0/2)0% (0/1)70.59% (36/51)0% (0/1)0% (0/1)N/A0.22% (31/14336)

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)
642Not measured3024.1Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

44 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/111100
JointsNot applicable0/0000
Materials0.2231/14336143361433658.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
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)
38.771.5120486.8880.75198.29

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/camshaft_01_obj_00/Prop/Gear0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
010/0

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
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:assignment31/20481.51
visual:opacity0/20480

Generated USD | Asset package manifest | NVIDIA validation findings

Matched captures

engineComponent_camshaft_a01: Reference: front
Reference: front | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: front
Reconstruction: front | pi | none | repetition 2
engineComponent_camshaft_a01: Reference: isometric
Reference: isometric | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: isometric
Reconstruction: isometric | pi | none | repetition 2
engineComponent_camshaft_a01: matched reference: reconstruction contact sheet
matched reference: reconstruction contact sheet | pi | none | repetition 2
engineComponent_camshaft_a01: Reference: side
Reference: side | pi | none | repetition 2
engineComponent_camshaft_a01: Reconstruction: side
Reconstruction: side | pi | none | repetition 2

food_beverage_coffeeCup_a01 / nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten / repetition 3

ModelHarnessSkillsRepetitionStatus
nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:basetenpinone3completed
Formal fidelity (%)Visual fidelity (%)Kinematic fidelity (%)SimReady Robotics-Prop optionalShape (%)Rigid parts (%)Joints (%)Materials (%)
0% (0/46)0% (0/2)0% (0/1)Not measured (0/51), 51 unmeasured, bounds 0%-100%0% (0/1)0% (0/2)0% (0/9)0% (0/20480)

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)
642Not measured1823.17Not measuredNot measuredNot measuredNot measuredNot measuredNot measuredNot measured

0 of 46 mandatory requirements passed.

Direct USD reconstruction fidelity

ComponentFidelity (%)CreditMeasuredEligibleReference coverage (%)
Shape00/111100
Rigid parts00/222100
Joints00/999100
Materials00/20480204802048083.33

Appearance materials

Score (%)Earned/eligibleStatus
00/2048measured

Kinematic correspondence

FactorScore (%)Earned/eligibleMeasured/eligibleCoverage (%)
Fixed constraints00/11/1100
Moving jointsNot measured0/00/00
Reference jointCandidate jointScore (%)Motion RMS (mm)Status
/RootNode/Joints/joint_sm_food_beverage_coffeeCup_a01_lid_joint_00Not measured0Not measuredmissing_joint

Surface correspondence

Precision (%)Recall (%)Samples per directionDistance band (mm)RMS distance (mm)95th-percentile distance (mm)
0020482.68Not measuredNot measured

Rigid-part correspondence

Reference bodyCandidate bodySurface correspondence (%)
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_body_obj_00Not measured0
/RootNode/Geometry/sm_food_beverage_coffeeCup_a01_lid_obj_00Not measured0

Joint correspondence

Reference jointsCandidate jointsPassed/eligible checks
100/9

Rigid-structure checks

FeaturePassed/eligibleMeasured/eligible
body_count0/11/1
joint_inventory_count0/11/1
body_enabled0/22/2
body_kinematic0/22/2

Joint checks

FeaturePassed/eligibleMeasured/eligible
existence_type_connectivity0/11/1
joint_enabled0/11/1
body0_enabled0/11/1
body0_kinematic0/11/1
body1_enabled0/11/1
body1_kinematic0/11/1
anchors0/11/1
relative_orientation0/11/1
joint_count0/11/1

Material correspondence

PropertyCredit/eligibleCorrespondence (%)
physics:assignment0/20480
physics:density0/20480
physics:dynamicFriction0/20480
physics:restitution0/20480
physics:staticFriction0/20480
visual:assignment0/20480
visual:diffuseColor0/20480
visual:metallic0/20480
visual:opacity0/20480
visual:roughness0/20480

Generated USD | Asset package manifest

\ No newline at end of file diff --git a/runs/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/results.json b/runs/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/results.json index da01bb38e1e81019ae91053f9095aa38baf56983..30d05feeae368b154432f292e32eef3b40956f30 100644 --- a/runs/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/results.json +++ b/runs/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/results.json @@ -1,7 +1,7 @@ { "schema": "simready-bench-portable-report-v1", "planned_conditions": 100, - "completed_conditions": 26, + "completed_conditions": 27, "partial": true, "settings": { "settings_schema": "simready-bench-public-settings-v2", @@ -52362,6 +52362,2159 @@ }, "authoring_protocol": "authoring-64-bounded-output-4096-v1-tools-bounded-v1-continue-length-v1" }, + { + "condition_id": "condition-46a75a73d40379f3258003dfa22362317b7c68eee2d459040734d5a733355c0f", + "asset_id": "engineComponent_camshaft_a01", + "requested_model": "nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten", + "harness_id": "pi", + "skill_set_id": "none", + "repetition": 1, + "status": "completed", + "formal_fidelity_percent": 90.8695652173913, + "visual_fidelity_percent": 0.0, + "kinematic_fidelity_percent": 0.0, + "simready_reward": 90.8695652173913, + "mandatory_passed": 44, + "mandatory_total": 46, + "mandatory_failed": 2, + "mandatory_unknown": 0, + "mandatory_lower_bound_percent": 90.8695652173913, + "mandatory_upper_bound_percent": 90.8695652173913, + "completion_bonus": 0, + "optional_score_percent": 70.58823529411765, + "optional_passed": 36, + "optional_failed": 15, + "optional_unknown": 0, + "optional_total": 51, + "optional_measured": 51, + "optional_coverage": 1.0, + "optional_lower_bound_percent": 70.58823529411765, + "optional_upper_bound_percent": 70.58823529411765, + "fidelity_shape_percent": 0.0, + "fidelity_rigid_parts_percent": 0.0, + "fidelity_joints_percent": null, + "fidelity_materials_percent": 0.21623883928571427, + "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": 44, + "formal_fidelity_eligible": 46, + "formal_fidelity_measured": 46, + "formal_fidelity_coverage": 1.0, + "formal_fidelity_lower_bound_percent": 90.8695652173913, + "formal_fidelity_upper_bound_percent": 90.8695652173913, + "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": "measured", + "kinematic_fidelity_earned": 0.0, + "kinematic_fidelity_eligible": 1, + "kinematic_fidelity_measured": 1, + "kinematic_fidelity_coverage": 1.0, + "kinematic_fidelity_lower_bound_percent": 0.0, + "kinematic_fidelity_upper_bound_percent": 0.0, + "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": 1, + "kinematic_matched_joint_count": 0, + "kinematic_missing_joint_count": 0, + "kinematic_extra_joint_count": 1, + "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": 0.0, + "kinematic_fixed_constraints_status": "measured", + "kinematic_fixed_constraints_earned": 0, + "kinematic_fixed_constraints_eligible": 1, + "kinematic_fixed_constraints_measured": 1, + "kinematic_fixed_constraints_coverage": 1.0, + "kinematic_fixed_constraints_lower_bound_percent": 0.0, + "kinematic_fixed_constraints_upper_bound_percent": 0.0, + "fidelity_shape_earned": 0.0, + "fidelity_shape_eligible": 1, + "fidelity_shape_measured": 1, + "fidelity_shape_status": "measured", + "fidelity_rigid_parts_earned": 0.0, + "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": 31, + "fidelity_materials_eligible": 14336, + "fidelity_materials_measured": 14336, + 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condition-87102f58984891c2bdc6380715d87acf579735cd3bf515592f0cfc4a446af018,food_beverage_coffeeCup_a01,nvidia/NVIDIA-Nemotron-3.5-Super-VL-120B-A12B-NVFP4:baseten,pi,none,3,completed,0.0,0.0,0.0,0.0,0,46,46,0,0.0,0.0,0,,0,0,51,51,0,0.0,0.0,100.0,0.0,0.0,0.0,0.0,1.0,1.0,1.0,0.8333333333333334,complete,measured,0,46,46,1.0,0.0,0.0,measured,0.0,2,2,1.0,0.0,0.0,measured,0.0,1,1,1.0,0.0,0.0,0.0,measured,0.0,2048,2048,1.0,0.0,0.0,1,0,0,1,0,,not_applicable,0,0,0,0,,,0.0,measured,0.0,1,1,1.0,0.0,0.0,0.0,1,1,measured,0.0,2,2,measured,0,9,9,measured,0,20480,20480,measured,0.0,0.0,2048,0.0,0.0,0,6,1,0,64,2,,1823.1738385029603,,,,,,, diff --git a/viewer/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/by_asset/enginecomponent_camshaft_a01.parquet b/viewer/nv25-nemotron35-vl-nvfp4-off-pi-turn64-output4096-local-20261022/by_asset/enginecomponent_camshaft_a01.parquet index 77e1e925fbf1cfa0a2dc7dc371bb9cc419bd8bb4..ea4b33c298d8c306d22cb54c490aea29d3a0aa66 100644 --- 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