If I understand correctly, this is about benchmarking robot models. Do you have a robot to do the benchmarking or is it all simulation?

All real hardware, no simulation. Franka FR3 arm with a Robotiq gripper, physical totes, real objects. Every run is recorded with synced video and telemetry (you can watch any episode on the site).

That's the whole point – simulation benchmarks exist, but operators deploying robots care about real-world performance.