case_id stringlengths 11 25 | domain stringclasses 5
values | task_family stringclasses 3
values | dynamic_subtype stringclasses 3
values | prompt stringlengths 82 139 | github_runtime_model stringlengths 122 137 | blend_file stringlengths 39 50 ⌀ | preview_1 stringclasses 6
values | preview_2 stringclasses 6
values | preview_3 stringclasses 6
values |
|---|---|---|---|---|---|---|---|---|---|
IND-01-vacuum-living-room | Indoor | obstacle_navigation | null | Drive the vacuum east through the living-room corridor, enter the frozen goal, and remain stopped for 0.5 seconds. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml | null | null | null | null |
IND-02-go2-living-room | Indoor | obstacle_navigation | null | Traverse the living room east with the Go2, stay in the frozen corridor, enter the goal, and stop. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml | null | null | null | null |
IND-03-vacuum-west | Indoor | obstacle_navigation | null | Drive the vacuum west through the indoor corridor, enter the frozen goal, and remain stopped for 0.5 seconds. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml | null | null | null | null |
INS-01-agv-aisle | Industrial | obstacle_navigation | null | Drive the four-wheel AGV east along the industrial aisle, hold the lane, enter the goal, and stop. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml | blender_sources/INS-01-agv-aisle/scene.blend | null | null | null |
INS-02-agv-cargo | Industrial | dynamic_interaction | contact_dynamic | Transport the physically modeled cargo east with the AGV, retain the declared weld attachment, enter the cargo goal, and stop. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml | blender_sources/INS-02-agv-cargo/scene.blend | null | null | null |
INS-03-weld | Industrial | dynamic_interaction | articulated | Trace the frozen weld seam continuously with the UR5e tool tip and finish at rest. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/INS-03-weld/runtime_model.xml | blender_sources/INS-03-weld/scene.blend | null | null | null |
NAT-01-rock-kick | Natural outdoor | dynamic_interaction | contact_dynamic | Use the Go2 feet to make the source-bound rock move physically in the uneven canyon, then let it settle. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/m1_world.xml | blender_sources/NAT-01-rock-kick/scene.blend | blender_sources/NAT-01-rock-kick/preview_01_start.png | blender_sources/NAT-01-rock-kick/preview_02_middle.png | blender_sources/NAT-01-rock-kick/preview_03_end.png |
NAT-02-hills-turn-stop | Natural outdoor | obstacle_navigation | null | Drive the Jackal across the authored hills, complete the authored left turn, enter the goal region, and remain stopped for 0.5 seconds. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m1_world.xml | blender_sources/NAT-02-hills-turn-stop/scene.blend | blender_sources/NAT-02-hills-turn-stop/preview_01_start.png | blender_sources/NAT-02-hills-turn-stop/preview_02_middle.png | blender_sources/NAT-02-hills-turn-stop/preview_03_end.png |
NAT-03-water-land | Natural outdoor | dynamic_interaction | cross_medium | Move the amphibious rover from the declared static water field, contact the bank, reach dry land, and stop in the land goal. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m1_world.xml | blender_sources/NAT-03-water-land/scene.blend | blender_sources/NAT-03-water-land/preview_01_start.png | blender_sources/NAT-03-water-land/preview_02_middle.png | blender_sources/NAT-03-water-land/preview_03_end.png |
SER-01-medicine | Service | pick_and_place | null | Approach, legally grasp, and deliver the medicine pouch to the authored delivery region while retaining a stable grasp. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/SER-01-medicine/m1_world.xml | blender_sources/SER-01-medicine/scene.blend | blender_sources/SER-01-medicine/preview_01_start.png | blender_sources/SER-01-medicine/preview_02_middle.png | blender_sources/SER-01-medicine/preview_03_end.png |
SER-02-airport-luggage | Service | pick_and_place | null | Approach the blue luggage assembly, legally grasp and lift it, then deliver it to the authored airport goal while retaining a stable grasp. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m1_world.xml | blender_sources/SER-02-airport-luggage/scene.blend | blender_sources/SER-02-airport-luggage/preview_01_start.png | blender_sources/SER-02-airport-luggage/preview_02_middle.png | blender_sources/SER-02-airport-luggage/preview_03_end.png |
SER-03-hotel-drawer | Service | dynamic_interaction | articulated | Navigate the hotel robot to the terminal region, stop, open its payload drawer, and keep the meal parcel supported for 0.5 seconds. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/SER-03-hotel-drawer/m1_world.xml | blender_sources/SER-03-hotel-drawer/scene.blend | blender_sources/SER-03-hotel-drawer/preview_01_start.png | blender_sources/SER-03-hotel-drawer/preview_02_middle.png | blender_sources/SER-03-hotel-drawer/preview_03_end.png |
URB-01-agv-city | Urban | obstacle_navigation | null | Drive the AGV east along the city pavement, stay in the frozen corridor, enter the goal, and stop. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/URB-01-agv-city/runtime_model.xml | blender_sources/URB-01-agv-city/scene.blend | null | null | null |
URB-02-intersection | Urban | obstacle_navigation | null | Start on the west sidewalk, cross the road east through the frozen corridor, reach the east sidewalk, and stop. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/URB-02-intersection/runtime_model.xml | blender_sources/URB-02-intersection/scene.blend | null | null | null |
URB-03-pole-blocking | Urban | dynamic_interaction | contact_dynamic | Approach the frozen target pole with the Go2, make physical contact, remain blocked without passing through it, and stop. | https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/artifacts/URB-03-pole-blocking/runtime_model.xml | blender_sources/URB-03-pole-blocking/scene.blend | null | null | null |
SimCode4D DEV15
A 15-scene development benchmark for Code2Worlds-2, spanning indoor, industrial, natural outdoor, service, and urban tasks.
- Scene index: case IDs, task prompts, and links to the corresponding runtime models in GitHub. The Dataset Viewer displays these 15 validation cases.
- Blender sources: 12 original
.blendprojects. The six natural and service scenes each include three animation preview frames beside the project file. - Benchmark code and runtime: all 15 executable MuJoCo worlds, required assets, frozen case definitions, validators, metrics, and submission scorer. Follow the benchmark guide to run an evaluation.
The runtime files are hosted in GitHub; this dataset adds the authoring scenes and visual previews. See the third-party notices for the runtime assets.
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