From 36bfdaef0be956f6a4e6dbc7771f8fab249a6a8d Mon Sep 17 00:00:00 2001
From: YuTeh Shen <yts@nvidia.com>
Date: Fri, 28 Aug 2026 06:06:36 +0000
Subject: [PATCH 1/4] Report resolved camera resolutions in benchmark KPIs

---
 .../benchmark-camera-resolutions.rst          |  4 +
 source/isaaclab/isaaclab/benchmark/capture.py | 84 +++++++++++++++++++
 .../rl_games/benchmark_play_rl_games.py       |  1 +
 .../rl_games/benchmark_train_rl_games.py      |  1 +
 .../backends/rsl_rl/benchmark_play_rsl_rl.py  |  1 +
 .../backends/rsl_rl/benchmark_train_rsl_rl.py |  1 +
 .../backends/sb3/benchmark_play_sb3.py        |  1 +
 .../backends/sb3/benchmark_train_sb3.py       |  1 +
 .../backends/skrl/benchmark_play_skrl.py      |  1 +
 .../backends/skrl/benchmark_train_skrl.py     |  1 +
 .../isaaclab/benchmark/entrypoints/runtime.py |  1 +
 .../isaaclab/benchmark/entrypoints/startup.py |  1 +
 .../test/benchmark/test_benchmark_core.py     |  9 ++
 .../isaaclab/test/benchmark/test_capture.py   | 40 +++++++++
 14 files changed, 147 insertions(+)
 create mode 100644 source/isaaclab/changelog.d/benchmark-camera-resolutions.rst

diff --git a/source/isaaclab/changelog.d/benchmark-camera-resolutions.rst b/source/isaaclab/changelog.d/benchmark-camera-resolutions.rst
new file mode 100644
index 000000000000..c2c38cd097f1
--- /dev/null
+++ b/source/isaaclab/changelog.d/benchmark-camera-resolutions.rst
@@ -0,0 +1,4 @@
+Added
+^^^^^
+
+* Added resolved camera config paths, image widths, and image heights to benchmark KPI metadata.
diff --git a/source/isaaclab/isaaclab/benchmark/capture.py b/source/isaaclab/isaaclab/benchmark/capture.py
index d93c47821039..72a6f80b65fb 100644
--- a/source/isaaclab/isaaclab/benchmark/capture.py
+++ b/source/isaaclab/isaaclab/benchmark/capture.py
@@ -278,6 +278,90 @@ def _backends_from_env_cfg(env_cfg: object) -> tuple[str | None, str | None]:
     return physics, rendering
 
 
+def _is_camera_cfg(node: object) -> bool:
+    """Return whether *node* derives from a supported camera configuration class."""
+    camera_cfg_names = {"CameraCfg", "RayCasterCameraCfg"}
+    return any(base.__name__ in camera_cfg_names for base in type(node).__mro__)
+
+
+def _camera_resolution(node: object) -> tuple[int, int] | None:
+    """Return the resolved ``(width, height)`` for one camera configuration."""
+    width = getattr(node, "width", None)
+    height = getattr(node, "height", None)
+    if not isinstance(width, int) or isinstance(width, bool) or not isinstance(height, int) or isinstance(height, bool):
+        pattern_cfg = getattr(node, "pattern_cfg", None)
+        width = getattr(pattern_cfg, "width", None)
+        height = getattr(pattern_cfg, "height", None)
+    if (
+        not isinstance(width, int)
+        or isinstance(width, bool)
+        or width <= 0
+        or not isinstance(height, int)
+        or isinstance(height, bool)
+        or height <= 0
+    ):
+        return None
+    return width, height
+
+
+def camera_resolutions_from_env_cfg(env_cfg: object) -> dict[str, dict[str, int]]:
+    """Collect resolved image dimensions from camera configurations in an environment config.
+
+    The returned keys are config paths rooted at ``env`` so benchmark results identify the
+    exact camera field that was resolved by Hydra. RTX camera configurations expose dimensions
+    directly, while ray-cast cameras expose them through their pattern configuration.
+
+    Args:
+        env_cfg: Concrete task environment configuration after command-line overrides are applied.
+
+    Returns:
+        Camera config paths mapped to their resolved image width and height in pixels.
+    """
+    resolutions: dict[str, dict[str, int]] = {}
+    stack: list[tuple[str, object]] = [("env", env_cfg)]
+    visited: set[int] = set()
+
+    while stack:
+        path, node = stack.pop()
+        if node is None or isinstance(node, (str, bytes, int, float, bool, type)) or id(node) in visited:
+            continue
+        visited.add(id(node))
+
+        if _is_camera_cfg(node):
+            resolution = _camera_resolution(node)
+            if resolution is not None:
+                width, height = resolution
+                resolutions[path] = {"width": width, "height": height}
+            continue
+
+        if isinstance(node, dict):
+            children = [(f"{path}.{key}", value) for key, value in node.items()]
+        elif isinstance(node, (list, tuple)):
+            children = [(f"{path}[{index}]", value) for index, value in enumerate(node)]
+        else:
+            try:
+                children = [(f"{path}.{name}", value) for name, value in vars(node).items() if not name.startswith("_")]
+            except TypeError:
+                continue
+        stack.extend(reversed(children))
+
+    return dict(sorted(resolutions.items()))
+
+
+def camera_resolution_metadata_from_env_cfg(env_cfg: object) -> list[dict[str, object]]:
+    """Build workflow metadata containing resolved camera resolutions, when present.
+
+    Args:
+        env_cfg: Concrete task environment configuration after command-line overrides are applied.
+
+    Returns:
+        A workflow metadata entry for ``camera_resolutions``, or an empty list when the task has no
+        configured cameras with concrete image dimensions.
+    """
+    resolutions = camera_resolutions_from_env_cfg(env_cfg)
+    return [{"name": "camera_resolutions", "data": resolutions}] if resolutions else []
+
+
 def run_config_from_env_cfg(env_cfg: object) -> RunConfig:
     """Build a :class:`~isaaclab.benchmark.RunConfig` from a concrete task config.
 
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py
index e8c295b61bcf..cfb398fe7f83 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py
@@ -181,6 +181,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py
index b6dd72dd4ad0..38062a66ae3b 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py
@@ -232,6 +232,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py
index 52e64262abb4..1f98e8f6de23 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py
@@ -178,6 +178,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py
index cec0ce323d98..a777ba8f40cf 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py
@@ -220,6 +220,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py
index 7f3aa1e6f171..ba5584a7a404 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py
@@ -181,6 +181,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py
index a1a1a80d14cb..0b7856d7a1b4 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py
@@ -268,6 +268,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py
index 697f5e4a5743..3df2a7e7f29d 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py
@@ -210,6 +210,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py
index a6c09f1dbe39..ca246990fe77 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py
@@ -352,6 +352,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         },
                         {"name": "environment_step_warmup_steps", "data": args_cli.warmup_steps},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/runtime.py b/source/isaaclab/isaaclab/benchmark/entrypoints/runtime.py
index 840b3b95317b..dec2af487d90 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/runtime.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/runtime.py
@@ -169,6 +169,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         "data": ("serialized_synchronized" if args.measure_sync_step else "host_return"),
                     },
                     {"name": "world_size", "data": distributed.world_size},
+                    *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                 ]
             },
         )
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/startup.py b/source/isaaclab/isaaclab/benchmark/entrypoints/startup.py
index 49a611afe511..62923e4da170 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/startup.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/startup.py
@@ -357,6 +357,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
                         {"name": "num_envs", "data": args.num_envs},
                         {"name": "top_n", "data": args.top_n},
                         {"name": "world_size", "data": distributed.world_size},
+                        *capture.camera_resolution_metadata_from_env_cfg(env_cfg),
                     ]
                 },
             )
diff --git a/source/isaaclab/test/benchmark/test_benchmark_core.py b/source/isaaclab/test/benchmark/test_benchmark_core.py
index 4a29d6105a28..909552602b99 100644
--- a/source/isaaclab/test/benchmark/test_benchmark_core.py
+++ b/source/isaaclab/test/benchmark/test_benchmark_core.py
@@ -170,6 +170,14 @@ def test_benchmark_collects_metadata_measurements_and_writes_json(tmp_path):
         output_path=str(output_path),
         use_recorders=False,
         output_prefix="test",
+        workflow_metadata={
+            "metadata": [
+                {
+                    "name": "camera_resolutions",
+                    "data": {"env.scene.tiled_camera": {"width": 64, "height": 48}},
+                }
+            ]
+        },
     )
 
     benchmark.add_measurement(
@@ -191,6 +199,7 @@ def test_benchmark_collects_metadata_measurements_and_writes_json(tmp_path):
     assert not hasattr(benchmark, "_manual_recorders") or benchmark._manual_recorders is None
     assert data["benchmark_info"]["workflow_name"] == "my_workflow"
     assert "timestamp" in data["benchmark_info"]
+    assert data["benchmark_info"]["camera_resolutions"] == {"env.scene.tiled_camera": {"width": 64, "height": 48}}
     assert data["runtime"]["metric1"] == 10.0
     assert data["runtime"]["metric2"] == 20.0
     assert data["runtime"]["custom"] == "value"
diff --git a/source/isaaclab/test/benchmark/test_capture.py b/source/isaaclab/test/benchmark/test_capture.py
index 34d903149649..6accb90f7ae5 100644
--- a/source/isaaclab/test/benchmark/test_capture.py
+++ b/source/isaaclab/test/benchmark/test_capture.py
@@ -10,6 +10,8 @@
 import pytest
 
 from isaaclab.benchmark.capture import (
+    camera_resolution_metadata_from_env_cfg,
+    camera_resolutions_from_env_cfg,
     capture_hardware,
     capture_resources,
     capture_versions,
@@ -228,6 +230,44 @@ def test_run_config_uses_concrete_backend_configuration():
         run_config_from_env_cfg(SimpleNamespace(sim=SimpleNamespace(physics=object())))
 
 
+def test_camera_resolutions_use_resolved_config_paths():
+    class CameraCfg:
+        def __init__(self, width: int, height: int):
+            self.width = width
+            self.height = height
+
+    class CartpoleCameraCfg(CameraCfg):
+        pass
+
+    class RayCasterCameraCfg:
+        def __init__(self, width: int, height: int):
+            self.pattern_cfg = SimpleNamespace(width=width, height=height)
+
+    shared_camera = CartpoleCameraCfg(width=64, height=48)
+    env_cfg = SimpleNamespace(
+        scene=SimpleNamespace(tiled_camera=shared_camera, duplicate=shared_camera),
+        ray_camera=RayCasterCameraCfg(width=32, height=24),
+        viewport=SimpleNamespace(width=1920, height=1080),
+    )
+
+    expected = {
+        "env.ray_camera": {"width": 32, "height": 24},
+        "env.scene.tiled_camera": {"width": 64, "height": 48},
+    }
+    assert camera_resolutions_from_env_cfg(env_cfg) == expected
+    assert camera_resolution_metadata_from_env_cfg(env_cfg) == [{"name": "camera_resolutions", "data": expected}]
+
+
+def test_camera_resolutions_omit_unconfigured_dimensions():
+    class CameraCfg:
+        width = object()
+        height = object()
+
+    env_cfg = SimpleNamespace(camera=CameraCfg())
+    assert camera_resolutions_from_env_cfg(env_cfg) == {}
+    assert camera_resolution_metadata_from_env_cfg(env_cfg) == []
+
+
 def test_capture_resources_peak_clamped_to_mean_when_peak_row_absent():
     # Build a recorder that has mean/std rows but no peak rows.
     # capture_resources must clamp peak to mean rather than leaving it at 0.0

From 2546f27f35cf7c6019b38d211ee41f8d5b46de94 Mon Sep 17 00:00:00 2001
From: YuTeh Shen <yts@nvidia.com>
Date: Mon, 31 Aug 2026 00:59:23 +0000
Subject: [PATCH 2/4] Fix camera configuration discovery

---
 source/isaaclab/isaaclab/benchmark/capture.py | 19 +++---
 .../isaaclab/test/benchmark/test_capture.py   | 65 +++++++++++++------
 2 files changed, 54 insertions(+), 30 deletions(-)

diff --git a/source/isaaclab/isaaclab/benchmark/capture.py b/source/isaaclab/isaaclab/benchmark/capture.py
index 72a6f80b65fb..4985c1abe1e8 100644
--- a/source/isaaclab/isaaclab/benchmark/capture.py
+++ b/source/isaaclab/isaaclab/benchmark/capture.py
@@ -278,12 +278,6 @@ def _backends_from_env_cfg(env_cfg: object) -> tuple[str | None, str | None]:
     return physics, rendering
 
 
-def _is_camera_cfg(node: object) -> bool:
-    """Return whether *node* derives from a supported camera configuration class."""
-    camera_cfg_names = {"CameraCfg", "RayCasterCameraCfg"}
-    return any(base.__name__ in camera_cfg_names for base in type(node).__mro__)
-
-
 def _camera_resolution(node: object) -> tuple[int, int] | None:
     """Return the resolved ``(width, height)`` for one camera configuration."""
     width = getattr(node, "width", None)
@@ -317,23 +311,30 @@ def camera_resolutions_from_env_cfg(env_cfg: object) -> dict[str, dict[str, int]
     Returns:
         Camera config paths mapped to their resolved image width and height in pixels.
     """
+    # Keep these imports local so importing benchmark capture does not eagerly load sensor dependencies.
+    from isaaclab.sensors import CameraCfg, RayCasterCameraCfg
+
+    camera_cfg_types = (CameraCfg, RayCasterCameraCfg)
     resolutions: dict[str, dict[str, int]] = {}
     stack: list[tuple[str, object]] = [("env", env_cfg)]
     visited: set[int] = set()
 
     while stack:
         path, node = stack.pop()
-        if node is None or isinstance(node, (str, bytes, int, float, bool, type)) or id(node) in visited:
+        if node is None or isinstance(node, (str, bytes, int, float, bool, type)):
             continue
-        visited.add(id(node))
 
-        if _is_camera_cfg(node):
+        if isinstance(node, camera_cfg_types):
             resolution = _camera_resolution(node)
             if resolution is not None:
                 width, height = resolution
                 resolutions[path] = {"width": width, "height": height}
             continue
 
+        if id(node) in visited:
+            continue
+        visited.add(id(node))
+
         if isinstance(node, dict):
             children = [(f"{path}.{key}", value) for key, value in node.items()]
         elif isinstance(node, (list, tuple)):
diff --git a/source/isaaclab/test/benchmark/test_capture.py b/source/isaaclab/test/benchmark/test_capture.py
index 6accb90f7ae5..2610ffd35213 100644
--- a/source/isaaclab/test/benchmark/test_capture.py
+++ b/source/isaaclab/test/benchmark/test_capture.py
@@ -27,6 +27,7 @@
     StringMetadata,
 )
 from isaaclab.benchmark.schema import Hardware, Resources, Versions
+from isaaclab.sensors import CameraCfg, RayCasterCameraCfg, patterns
 
 
 class _Rec:
@@ -42,6 +43,18 @@ def __init__(self, recorders):
         self._manual_recorders = recorders
 
 
+def _camera_cfg(width: int = 64, height: int = 48) -> CameraCfg:
+    return CameraCfg(prim_path="/World/Camera", spawn=None, width=width, height=height)
+
+
+def _ray_caster_camera_cfg(width: int = 32, height: int = 24) -> RayCasterCameraCfg:
+    return RayCasterCameraCfg(
+        prim_path="/World/RayCamera",
+        mesh_prim_paths=["/World/Ground"],
+        pattern_cfg=patterns.PinholeCameraPatternCfg(width=width, height=height),
+    )
+
+
 def test_capture_versions_renames_and_defaults():
     md = [
         StringMetadata(name="isaaclab_version", data="4.6.8"),
@@ -230,40 +243,50 @@ def test_run_config_uses_concrete_backend_configuration():
         run_config_from_env_cfg(SimpleNamespace(sim=SimpleNamespace(physics=object())))
 
 
-def test_camera_resolutions_use_resolved_config_paths():
-    class CameraCfg:
-        def __init__(self, width: int, height: int):
-            self.width = width
-            self.height = height
-
-    class CartpoleCameraCfg(CameraCfg):
-        pass
+def test_camera_resolutions_omit_no_camera_metadata():
+    env_cfg = SimpleNamespace(viewport=SimpleNamespace(width=1920, height=1080))
+    assert camera_resolutions_from_env_cfg(env_cfg) == {}
+    assert camera_resolution_metadata_from_env_cfg(env_cfg) == []
 
-    class RayCasterCameraCfg:
-        def __init__(self, width: int, height: int):
-            self.pattern_cfg = SimpleNamespace(width=width, height=height)
 
-    shared_camera = CartpoleCameraCfg(width=64, height=48)
+def test_camera_resolutions_report_distinct_cameras_sorted_by_path():
     env_cfg = SimpleNamespace(
-        scene=SimpleNamespace(tiled_camera=shared_camera, duplicate=shared_camera),
-        ray_camera=RayCasterCameraCfg(width=32, height=24),
-        viewport=SimpleNamespace(width=1920, height=1080),
+        z_camera=_camera_cfg(),
+        a_ray_camera=_ray_caster_camera_cfg(),
     )
 
     expected = {
-        "env.ray_camera": {"width": 32, "height": 24},
-        "env.scene.tiled_camera": {"width": 64, "height": 48},
+        "env.a_ray_camera": {"width": 32, "height": 24},
+        "env.z_camera": {"width": 64, "height": 48},
     }
     assert camera_resolutions_from_env_cfg(env_cfg) == expected
     assert camera_resolution_metadata_from_env_cfg(env_cfg) == [{"name": "camera_resolutions", "data": expected}]
 
 
-def test_camera_resolutions_omit_unconfigured_dimensions():
+def test_camera_resolutions_preserve_aliased_camera_paths():
+    shared_camera = _camera_cfg()
+    env_cfg = SimpleNamespace(scene=SimpleNamespace(tiled_camera=shared_camera, duplicate=shared_camera))
+
+    assert camera_resolutions_from_env_cfg(env_cfg) == {
+        "env.scene.duplicate": {"width": 64, "height": 48},
+        "env.scene.tiled_camera": {"width": 64, "height": 48},
+    }
+
+
+def test_camera_resolutions_ignore_unrelated_same_named_class():
     class CameraCfg:
-        width = object()
-        height = object()
+        width = 64
+        height = 48
+
+    assert camera_resolutions_from_env_cfg(SimpleNamespace(camera=CameraCfg())) == {}
+
+
+def test_camera_resolutions_omit_unconfigured_dimensions():
+    camera_cfg = _camera_cfg()
+    camera_cfg.width = object()
+    camera_cfg.height = object()
 
-    env_cfg = SimpleNamespace(camera=CameraCfg())
+    env_cfg = SimpleNamespace(camera=camera_cfg)
     assert camera_resolutions_from_env_cfg(env_cfg) == {}
     assert camera_resolution_metadata_from_env_cfg(env_cfg) == []
 

From 9acf6a6c2950808b89f6aae9f27c9fb70b8a84f4 Mon Sep 17 00:00:00 2001
From: YuTeh Shen <yts@nvidia.com>
Date: Tue, 1 Sep 2026 00:08:16 +0000
Subject: [PATCH 3/4] Preserve camera paths through shared containers

---
 source/isaaclab/isaaclab/benchmark/capture.py  | 11 +++++------
 source/isaaclab/test/benchmark/test_capture.py | 10 ++++++++++
 2 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/source/isaaclab/isaaclab/benchmark/capture.py b/source/isaaclab/isaaclab/benchmark/capture.py
index 4985c1abe1e8..0e83429094dd 100644
--- a/source/isaaclab/isaaclab/benchmark/capture.py
+++ b/source/isaaclab/isaaclab/benchmark/capture.py
@@ -316,11 +316,10 @@ def camera_resolutions_from_env_cfg(env_cfg: object) -> dict[str, dict[str, int]
 
     camera_cfg_types = (CameraCfg, RayCasterCameraCfg)
     resolutions: dict[str, dict[str, int]] = {}
-    stack: list[tuple[str, object]] = [("env", env_cfg)]
-    visited: set[int] = set()
+    stack: list[tuple[str, object, frozenset[int]]] = [("env", env_cfg, frozenset())]
 
     while stack:
-        path, node = stack.pop()
+        path, node, ancestors = stack.pop()
         if node is None or isinstance(node, (str, bytes, int, float, bool, type)):
             continue
 
@@ -331,9 +330,9 @@ def camera_resolutions_from_env_cfg(env_cfg: object) -> dict[str, dict[str, int]
                 resolutions[path] = {"width": width, "height": height}
             continue
 
-        if id(node) in visited:
+        if id(node) in ancestors:
             continue
-        visited.add(id(node))
+        child_ancestors = ancestors | {id(node)}
 
         if isinstance(node, dict):
             children = [(f"{path}.{key}", value) for key, value in node.items()]
@@ -344,7 +343,7 @@ def camera_resolutions_from_env_cfg(env_cfg: object) -> dict[str, dict[str, int]
                 children = [(f"{path}.{name}", value) for name, value in vars(node).items() if not name.startswith("_")]
             except TypeError:
                 continue
-        stack.extend(reversed(children))
+        stack.extend((child_path, child, child_ancestors) for child_path, child in reversed(children))
 
     return dict(sorted(resolutions.items()))
 
diff --git a/source/isaaclab/test/benchmark/test_capture.py b/source/isaaclab/test/benchmark/test_capture.py
index 2610ffd35213..a54158b630ed 100644
--- a/source/isaaclab/test/benchmark/test_capture.py
+++ b/source/isaaclab/test/benchmark/test_capture.py
@@ -273,6 +273,16 @@ def test_camera_resolutions_preserve_aliased_camera_paths():
     }
 
 
+def test_camera_resolutions_preserve_paths_through_aliased_containers():
+    shared_container = SimpleNamespace(camera=_camera_cfg())
+    env_cfg = SimpleNamespace(left=shared_container, right=shared_container)
+
+    assert camera_resolutions_from_env_cfg(env_cfg) == {
+        "env.left.camera": {"width": 64, "height": 48},
+        "env.right.camera": {"width": 64, "height": 48},
+    }
+
+
 def test_camera_resolutions_ignore_unrelated_same_named_class():
     class CameraCfg:
         width = 64

From 9ba49caa3cfd97d967276d0d79e8347304962a5a Mon Sep 17 00:00:00 2001
From: YuTeh Shen <yts@nvidia.com>
Date: Thu, 3 Sep 2026 08:25:45 +0000
Subject: [PATCH 4/4] Add camera resolutions to benchmark schema

---
 ...nchmark-camera-resolution-schema.minor.rst |  5 ++++
 .../benchmark-camera-resolutions.rst          |  4 ----
 .../isaaclab/isaaclab/benchmark/builders.py   |  5 ++++
 source/isaaclab/isaaclab/benchmark/capture.py |  5 ++++
 source/isaaclab/isaaclab/benchmark/schema.py  | 22 +++++++++++++++---
 .../isaaclab/test/benchmark/test_builders.py  |  7 ++++++
 .../isaaclab/test/benchmark/test_capture.py   |  8 ++++++-
 source/isaaclab/test/benchmark/test_schema.py | 23 +++++++++++++++++++
 8 files changed, 71 insertions(+), 8 deletions(-)
 create mode 100644 source/isaaclab/changelog.d/benchmark-camera-resolution-schema.minor.rst
 delete mode 100644 source/isaaclab/changelog.d/benchmark-camera-resolutions.rst

diff --git a/source/isaaclab/changelog.d/benchmark-camera-resolution-schema.minor.rst b/source/isaaclab/changelog.d/benchmark-camera-resolution-schema.minor.rst
new file mode 100644
index 000000000000..86173c679ed5
--- /dev/null
+++ b/source/isaaclab/changelog.d/benchmark-camera-resolution-schema.minor.rst
@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added resolved camera config paths, image widths, and image heights to benchmark KPI metadata and
+  :attr:`~isaaclab.benchmark.schema.RunConfig.camera_resolutions` in version 1.5 of the benchmark schema.
diff --git a/source/isaaclab/changelog.d/benchmark-camera-resolutions.rst b/source/isaaclab/changelog.d/benchmark-camera-resolutions.rst
deleted file mode 100644
index c2c38cd097f1..000000000000
--- a/source/isaaclab/changelog.d/benchmark-camera-resolutions.rst
+++ /dev/null
@@ -1,4 +0,0 @@
-Added
-^^^^^
-
-* Added resolved camera config paths, image widths, and image heights to benchmark KPI metadata.
diff --git a/source/isaaclab/isaaclab/benchmark/builders.py b/source/isaaclab/isaaclab/benchmark/builders.py
index 566806d5f657..41bb379bd361 100644
--- a/source/isaaclab/isaaclab/benchmark/builders.py
+++ b/source/isaaclab/isaaclab/benchmark/builders.py
@@ -18,6 +18,7 @@
 
 from isaaclab.benchmark.metrics import ema, mean_std_peak
 from isaaclab.benchmark.schema import (
+    CameraResolution,
     EnvironmentStepTiming,
     Hardware,
     Learning,
@@ -42,6 +43,7 @@ def build_run_config(
     physics_backend: str,
     rendering_backend: str = "none",
     presets: Sequence[str] | None = None,
+    camera_resolutions: dict[str, CameraResolution] | None = None,
 ) -> RunConfig:
     """Assemble a :class:`~isaaclab.benchmark.schema.RunConfig`.
 
@@ -52,6 +54,8 @@ def build_run_config(
             with no camera sensors.
         presets: Active Hydra preset tokens (e.g. ``["rgb"]``).  ``None``
             is treated as an empty list.
+        camera_resolutions: Resolved camera image dimensions keyed by config
+            path. ``None`` is treated as an empty mapping.
 
     Returns:
         Populated :class:`~isaaclab.benchmark.schema.RunConfig`.
@@ -60,6 +64,7 @@ def build_run_config(
         physics_backend=physics_backend,
         rendering_backend=rendering_backend,
         presets=list(presets) if presets else [],
+        camera_resolutions=dict(camera_resolutions) if camera_resolutions else {},
     )
 
 
diff --git a/source/isaaclab/isaaclab/benchmark/capture.py b/source/isaaclab/isaaclab/benchmark/capture.py
index 0e83429094dd..954b92ef0b24 100644
--- a/source/isaaclab/isaaclab/benchmark/capture.py
+++ b/source/isaaclab/isaaclab/benchmark/capture.py
@@ -23,6 +23,7 @@
 from typing import Any
 
 from isaaclab.benchmark.schema import (
+    CameraResolution,
     GpuDeviceInfo,
     GpuResources,
     Hardware,
@@ -382,6 +383,10 @@ def run_config_from_env_cfg(env_cfg: object) -> RunConfig:
     return RunConfig(
         physics_backend=physics,
         rendering_backend=rendering or "none",
+        camera_resolutions={
+            path: CameraResolution(width=dimensions["width"], height=dimensions["height"])
+            for path, dimensions in camera_resolutions_from_env_cfg(env_cfg).items()
+        },
     )
 
 
diff --git a/source/isaaclab/isaaclab/benchmark/schema.py b/source/isaaclab/isaaclab/benchmark/schema.py
index 23652ab14898..19ff8f652bfb 100644
--- a/source/isaaclab/isaaclab/benchmark/schema.py
+++ b/source/isaaclab/isaaclab/benchmark/schema.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Public schema for Isaac Lab benchmark bundles (v1.4).
+"""Public schema for Isaac Lab benchmark bundles (v1.5).
 
 Defines the on-disk JSON schema produced by the benchmark workflows
 in :mod:`isaaclab.benchmark.entrypoints`.
@@ -17,7 +17,7 @@
 :class:`Versions` and :class:`Hardware` metadata so a reader need not
 cross-reference other files in the bundle directory.
 
-Current version: 1.4
+Current version: 1.5
 """
 
 from __future__ import annotations
@@ -26,7 +26,7 @@
 from dataclasses import dataclass, field
 from typing import Literal
 
-SCHEMA_VERSION = "1.4"
+SCHEMA_VERSION = "1.5"
 
 Framework = Literal["rsl_rl", "rl_games", "skrl", "sb3"]
 PhysicsBackend = Literal["physx", "newton_mjwarp", "newton_kamino", "ovphysx"]
@@ -133,6 +133,19 @@ class Versions:
     isaaclab_release: str | None = None
 
 
+@dataclass(frozen=True)
+class CameraResolution:
+    """Resolved image dimensions for one camera configuration.
+
+    Args:
+        width: Image width in pixels.
+        height: Image height in pixels.
+    """
+
+    width: int
+    height: int
+
+
 @dataclass(frozen=True)
 class RunConfig:
     """Physics/rendering backend and active presets for a run.
@@ -146,11 +159,14 @@ class RunConfig:
             resolutions, and any other domain presets are captured without a
             closed enum; ``physics_backend`` / ``rendering_backend`` surface the
             two primary grouping dimensions as typed fields.
+        camera_resolutions: Resolved camera image dimensions keyed by config
+            path. Empty when the task has no configured camera sensors.
     """
 
     physics_backend: PhysicsBackend
     rendering_backend: RenderingBackend = "none"
     presets: list[str] = field(default_factory=list)
+    camera_resolutions: dict[str, CameraResolution] = field(default_factory=dict)
 
 
 @dataclass(frozen=True)
diff --git a/source/isaaclab/test/benchmark/test_builders.py b/source/isaaclab/test/benchmark/test_builders.py
index 71b2b9294926..4b2be5786441 100644
--- a/source/isaaclab/test/benchmark/test_builders.py
+++ b/source/isaaclab/test/benchmark/test_builders.py
@@ -13,6 +13,7 @@
 
 from isaaclab.benchmark import builders
 from isaaclab.benchmark.schema import (
+    CameraResolution,
     GpuDeviceInfo,
     Hardware,
     MeanStd,
@@ -68,6 +69,12 @@ def test_run_config_presets_default_empty():
     assert builders.build_run_config("newton_mjwarp", presets=["rgb"]).presets == ["rgb"]
 
 
+def test_run_config_camera_resolutions_default_empty():
+    assert builders.build_run_config("physx").camera_resolutions == {}
+    resolutions = {"env.scene.camera": CameraResolution(width=640, height=480)}
+    assert builders.build_run_config("physx", camera_resolutions=resolutions).camera_resolutions == resolutions
+
+
 def test_run_identity_computes_duration():
     run = builders.build_run_identity(
         run_id="x",
diff --git a/source/isaaclab/test/benchmark/test_capture.py b/source/isaaclab/test/benchmark/test_capture.py
index a54158b630ed..91279cccc51c 100644
--- a/source/isaaclab/test/benchmark/test_capture.py
+++ b/source/isaaclab/test/benchmark/test_capture.py
@@ -26,7 +26,7 @@
     SingleMeasurement,
     StringMetadata,
 )
-from isaaclab.benchmark.schema import Hardware, Resources, Versions
+from isaaclab.benchmark.schema import CameraResolution, Hardware, Resources, Versions
 from isaaclab.sensors import CameraCfg, RayCasterCameraCfg, patterns
 
 
@@ -262,6 +262,12 @@ def test_camera_resolutions_report_distinct_cameras_sorted_by_path():
     assert camera_resolutions_from_env_cfg(env_cfg) == expected
     assert camera_resolution_metadata_from_env_cfg(env_cfg) == [{"name": "camera_resolutions", "data": expected}]
 
+    env_cfg.sim = SimpleNamespace(physics=None)
+    assert run_config_from_env_cfg(env_cfg).camera_resolutions == {
+        "env.a_ray_camera": CameraResolution(width=32, height=24),
+        "env.z_camera": CameraResolution(width=64, height=48),
+    }
+
 
 def test_camera_resolutions_preserve_aliased_camera_paths():
     shared_camera = _camera_cfg()
diff --git a/source/isaaclab/test/benchmark/test_schema.py b/source/isaaclab/test/benchmark/test_schema.py
index 95688ce24bf2..92ad7595b36b 100644
--- a/source/isaaclab/test/benchmark/test_schema.py
+++ b/source/isaaclab/test/benchmark/test_schema.py
@@ -13,6 +13,7 @@
 
 from isaaclab.benchmark.schema import (
     SCHEMA_VERSION,
+    CameraResolution,
     CProfileFunction,
     EnvironmentStepTiming,
     GpuDeviceInfo,
@@ -147,6 +148,7 @@ def test_training_bundle_round_trip(tmp_path):
     assert data["run"]["config"]["physics_backend"] == "newton_mjwarp"
     assert data["run"]["config"]["rendering_backend"] == "none"
     assert data["run"]["config"]["presets"] == []
+    assert data["run"]["config"]["camera_resolutions"] == {}
     assert data["runtime"]["collection_fps"]["mean"] == pytest.approx(1_142_000.0)
     assert data["runtime"]["total_fps"]["mean"] == pytest.approx(1_071_780.0)
     timing = data["runtime"]["environment_step_timing"]
@@ -166,6 +168,27 @@ def test_training_bundle_round_trip(tmp_path):
     assert data["versions"]["sb3"] is None
 
 
+def test_camera_resolutions_round_trip(tmp_path):
+    bundle = dataclasses.replace(
+        _minimal_training_bundle(),
+        run=dataclasses.replace(
+            _run_identity(),
+            config=RunConfig(
+                physics_backend="newton_mjwarp",
+                rendering_backend="newton",
+                camera_resolutions={"env.scene.camera": CameraResolution(width=640, height=480)},
+            ),
+        ),
+    )
+    path = os.path.join(tmp_path, "training.json")
+    write_bundle_file(bundle, path)
+
+    with open(path) as f:
+        data = json.load(f)
+
+    assert data["run"]["config"]["camera_resolutions"] == {"env.scene.camera": {"width": 640, "height": 480}}
+
+
 def test_environment_step_timing_rejects_incomplete_measurement_modes():
     timing = _runtime().environment_step_timing
     assert timing is not None