PBench: A Physical AI Benchmark for World Models

Dataset Description:

The PBench is a benchmark to measure the progress of world models quantitatively. PBench contains a list of 1044 samples of text prompts, conditioning images, and qa pairs, covering Physical AI target domains including autonomous vehicle (AV) driving, robotics, industry (smart space), physics, human, and common sense. All the questions are binary questions, and the answer is either Yes or No. Our dataset is a benchmark designed to evaluate world models for Physical AI. By releasing the dataset, NVIDIA supports the development of world foundation models and provides benchmarks to evaluate the progress. For detailed information about PBench, please visit the PBench Website.

This dataset is ready for non-commercial use.

Dataset Owner(s):

NVIDIA Corporation

Dataset Creation Date:

2025/06/11

License/Terms of Use:

The use of this dataset is governed by CC BY-NC 4.0.

Intended Usage:

This benchmark dataset is intended to demonstrate and facilitate the understanding and evaluation of world models for Physical AI. It should primarily be used for educational and demonstration purposes.

Dataset Characterization

The PBench dataset focuses on the following areas: Autonomous Vehicle (AV) driving, Robotics, Industry (smart space), Physics, Human, Common Sense.

Data Collection Method:

• AV: Automatic/Sensors
• Industry: Automatic/Sensors
• Physics: Automatic/Sensors
• Robotics: Automatic/Sensors
• Human: Automatic/Sensors
• Common Sense: Human

Labeling Method:

• AV: Hybrid: Human, Automated
• Industry: Hybrid: Human, Automated
• Physics: Hybrid: Human, Automated
• Robotics: Hybrid: Human, Automated
• Human: Hybrid: Human, Automated
• Common Sense: Hybrid: Human, Automated

Dataset Format

• Modality: Image (jpg) and Text

Dataset Quantification

The dataset is stored in a Parquet file. The quantity, including the conditioning images, text prompts, and qa pairs, of the Pbench dataset is described in the table below.

Domain	Quantity
AV	118
Common Sense	239
Human	299
Industry	107
Physics	107
Robotics	174
Total Storage Size	101 MB

Reference(s):

Not published yet. We will publish the paper later add the link to the paper when it’s ready.

Ethical Considerations:

NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications. When downloaded or used in accordance with our terms of service, developers should work with their internal model team to ensure this model meets requirements for the relevant industry and use case and addresses unforeseen product misuse.

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