diff --git a/source/isaaclab_tasks/test/benchmarking/configs.yaml b/source/isaaclab_tasks/test/benchmarking/configs.yaml
index b4bc4fc043f..5514a91d668 100644
--- a/source/isaaclab_tasks/test/benchmarking/configs.yaml
+++ b/source/isaaclab_tasks/test/benchmarking/configs.yaml
@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
 # mode for very simple functional testing without checking thresholds
 fast_test:
   rl_games:Isaac-Ant-v0:
@@ -16,7 +17,7 @@ fast_test:
 # mode for capturing KPIs across all environments without checking thresholds
 full_test:
   Isaac-*:
-    max_iterations: 500
+    max_iterations: 10
     lower_thresholds:
       reward: -99999
       episode_length: -99999
@@ -67,9 +68,31 @@ fast:
       episode_length: 900
     upper_thresholds:
       duration: 1800
+  sb3:Isaac-Lift-Cube-Franka-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 50
+      episode_length: 80
+    upper_thresholds:
+      duration: 800
+  rl_games:Isaac-Dexsuite-Kuka-Allegro-Lift-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 30
+      episode_length: 150
+    upper_thresholds:
+      duration: 800
+  rsl_rl:Isaac-Reach-OpenArm-v0:
+    max_iterations: 200
+    lower_thresholds:
+      reward: 0.15
+      episode_length: 100
+    upper_thresholds:
+      duration: 600
 
-# mode for weekly CI
+# mode for nightly CI
 full:
+  # Locomotion tasks - basic
   Isaac-Ant-Direct-v0:
     max_iterations: 300
     lower_thresholds:
@@ -84,6 +107,21 @@ full:
       episode_length: 700
     upper_thresholds:
       duration: 800
+  Isaac-Humanoid-Direct-v0:
+    max_iterations: 300
+    lower_thresholds:
+      reward: 2000
+      episode_length: 600
+    upper_thresholds:
+      duration: 1000
+  Isaac-Humanoid-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 100
+      episode_length: 600
+    upper_thresholds:
+      duration: 2500
+  # Classic control tasks
   Isaac-Cart-Double-Pendulum-Direct-v0:
     max_iterations: 300
     lower_thresholds:
@@ -91,27 +129,35 @@ full:
       episode_length: 150
     upper_thresholds:
       duration: 500
-  Isaac-Cartpole-Depth-Camera-Direct-v0:
+  Isaac-Cartpole-Direct-v0:
     max_iterations: 300
     lower_thresholds:
       reward: 200
       episode_length: 150
     upper_thresholds:
-      duration: 3000
-  Isaac-Cartpole-Depth-v0:
+      duration: 500
+  Isaac-Cartpole-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 3
+      episode_length: 150
+    upper_thresholds:
+      duration: 1500
+  # Vision-based cartpole tasks
+  Isaac-Cartpole-Depth-Camera-Direct-v0:
     max_iterations: 300
     lower_thresholds:
-      reward: 1
+      reward: 200
       episode_length: 150
     upper_thresholds:
       duration: 3000
-  Isaac-Cartpole-Direct-v0:
+  Isaac-Cartpole-Depth-v0:
     max_iterations: 300
     lower_thresholds:
-      reward: 200
+      reward: 1
       episode_length: 150
     upper_thresholds:
-      duration: 500
+      duration: 3000
   Isaac-Cartpole-RGB-Camera-Direct-v0:
     max_iterations: 300
     lower_thresholds:
@@ -140,34 +186,7 @@ full:
       episode_length: 150
     upper_thresholds:
       duration: 4000
-  Isaac-Cartpole-v0:
-    max_iterations: 1000
-    lower_thresholds:
-      reward: 3
-      episode_length: 150
-    upper_thresholds:
-      duration: 1500
-  Isaac-Factory-GearMesh-Direct-v0:
-    max_iterations: 100
-    lower_thresholds:
-      reward: 200
-      episode_length: 250
-    upper_thresholds:
-      duration: 6000
-  Isaac-Factory-NutThread-Direct-v0:
-    max_iterations: 100
-    lower_thresholds:
-      reward: 400
-      episode_length: 400
-    upper_thresholds:
-      duration: 5000
-  Isaac-Factory-PegInsert-Direct-v0:
-    max_iterations: 100
-    lower_thresholds:
-      reward: 125
-      episode_length: 130
-    upper_thresholds:
-      duration: 4000
+  # Manipulation tasks - Franka
   Isaac-Franka-Cabinet-Direct-v0:
     max_iterations: 300
     lower_thresholds:
@@ -175,55 +194,64 @@ full:
       episode_length: 400
     upper_thresholds:
       duration: 1000
-  Isaac-Humanoid-Direct-v0:
+  Isaac-Lift-Cube-Franka-v0:
     max_iterations: 300
     lower_thresholds:
-      reward: 2000
-      episode_length: 600
+      reward: 90
+      episode_length: 100
     upper_thresholds:
       duration: 1000
-  Isaac-Humanoid-v0:
+  Isaac-Open-Drawer-Franka-v0:
+    max_iterations: 200
+    lower_thresholds:
+      reward: 60
+      episode_length: 150
+    upper_thresholds:
+      duration: 3000
+  Isaac-Reach-Franka-*:
     max_iterations: 1000
     lower_thresholds:
-      reward: 100
-      episode_length: 600
+      reward: 0.25
+      episode_length: 150
     upper_thresholds:
-      duration: 2500
-  Isaac-Lift-Cube-Franka-v0:
-    max_iterations: 300
+      duration: 1500
+  Isaac-Reach-Franka-OSC-v0:
+    max_iterations: 1000
     lower_thresholds:
-      reward: 90
-      episode_length: 100
+      reward: 0.25
+      episode_length: 150
     upper_thresholds:
-      duration: 1000
-  Isaac-Navigation-Flat-Anymal-C-v0:
+      duration: 1500
+  # Manipulation tasks - OpenArm
+  Isaac-Lift-Cube-OpenArm-v0:
     max_iterations: 300
     lower_thresholds:
-      reward: 0.5
-      episode_length: 20
+      reward: 80
+      episode_length: 100
     upper_thresholds:
-      duration: 2000
-  Isaac-Open-Drawer-Franka-v0:
+      duration: 1200
+  Isaac-Open-Drawer-OpenArm-v0:
     max_iterations: 200
     lower_thresholds:
-      reward: 60
+      reward: 50
       episode_length: 150
     upper_thresholds:
       duration: 3000
-  Isaac-Quadcopter-Direct-v0:
-    max_iterations: 500
+  Isaac-Reach-OpenArm-v0:
+    max_iterations: 1000
     lower_thresholds:
-      reward: 90
-      episode_length: 300
+      reward: 0.25
+      episode_length: 150
     upper_thresholds:
-      duration: 500
-  Isaac-Reach-Franka-*:
+      duration: 1500
+  Isaac-Reach-OpenArm-Bi-v0:
     max_iterations: 1000
     lower_thresholds:
       reward: 0.25
       episode_length: 150
     upper_thresholds:
-      duration: 1500
+      duration: 1800
+  # Manipulation tasks - UR10
   Isaac-Reach-UR10-v0:
     max_iterations: 1000
     lower_thresholds:
@@ -231,6 +259,7 @@ full:
       episode_length: 150
     upper_thresholds:
       duration: 1500
+  # Dexterous manipulation - Allegro hand
   Isaac-Repose-Cube-Allegro-Direct-v0:
     max_iterations: 500
     lower_thresholds:
@@ -245,6 +274,7 @@ full:
       episode_length: 300
     upper_thresholds:
       duration: 1500
+  # Dexterous manipulation - Shadow hand
   Isaac-Repose-Cube-Shadow-Direct-v0:
     max_iterations: 3000
     lower_thresholds:
@@ -280,6 +310,87 @@ full:
       episode_length: 150
     upper_thresholds:
       duration: 10000
+  # Dexterous manipulation - Kuka-Allegro
+  Isaac-Dexsuite-Kuka-Allegro-Lift-v0:
+    max_iterations: 500
+    lower_thresholds:
+      reward: 50
+      episode_length: 200
+    upper_thresholds:
+      duration: 2000
+  Isaac-Dexsuite-Kuka-Allegro-Reorient-v0:
+    max_iterations: 500
+    lower_thresholds:
+      reward: 50
+      episode_length: 200
+    upper_thresholds:
+      duration: 2000
+  # Factory and forge tasks
+  Isaac-AutoMate-Assembly-Direct-v0:
+    max_iterations: 300
+    lower_thresholds:
+      reward: 100
+      episode_length: 200
+    upper_thresholds:
+      duration: 1500
+  Isaac-AutoMate-Disassembly-Direct-v0:
+    max_iterations: 300
+    lower_thresholds:
+      reward: 100
+      episode_length: 200
+    upper_thresholds:
+      duration: 1500
+  Isaac-Factory-GearMesh-Direct-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 200
+      episode_length: 250
+    upper_thresholds:
+      duration: 6000
+  Isaac-Factory-NutThread-Direct-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 400
+      episode_length: 400
+    upper_thresholds:
+      duration: 5000
+  Isaac-Factory-PegInsert-Direct-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 125
+      episode_length: 130
+    upper_thresholds:
+      duration: 4000
+  Isaac-Forge-GearMesh-Direct-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 200
+      episode_length: 250
+    upper_thresholds:
+      duration: 6000
+  Isaac-Forge-NutThread-Direct-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 400
+      episode_length: 400
+    upper_thresholds:
+      duration: 5000
+  Isaac-Forge-PegInsert-Direct-v0:
+    max_iterations: 100
+    lower_thresholds:
+      reward: 125
+      episode_length: 130
+    upper_thresholds:
+      duration: 4000
+  # Aerial tasks
+  Isaac-Quadcopter-Direct-v0:
+    max_iterations: 500
+    lower_thresholds:
+      reward: 90
+      episode_length: 300
+    upper_thresholds:
+      duration: 500
+  # Quadruped and humanoid locomotion - flat terrain
   Isaac-Velocity-Flat-*:
     max_iterations: 1000
     lower_thresholds:
@@ -294,6 +405,35 @@ full:
       episode_length: 700
     upper_thresholds:
       duration: 6000
+  Isaac-Velocity-Flat-Digit-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 10
+      episode_length: 700
+    upper_thresholds:
+      duration: 3000
+  Isaac-Velocity-Flat-G1-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 10
+      episode_length: 700
+    upper_thresholds:
+      duration: 3500
+  Isaac-Velocity-Flat-Unitree-Go1-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 15
+      episode_length: 700
+    upper_thresholds:
+      duration: 3000
+  Isaac-Velocity-Flat-Unitree-Go2-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 15
+      episode_length: 700
+    upper_thresholds:
+      duration: 3000
+  # Quadruped and humanoid locomotion - rough terrain
   Isaac-Velocity-Rough-*:
     max_iterations: 1000
     lower_thresholds:
@@ -301,3 +441,39 @@ full:
       episode_length: 700
     upper_thresholds:
       duration: 6000
+  Isaac-Velocity-Rough-Digit-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 5
+      episode_length: 700
+    upper_thresholds:
+      duration: 6000
+  Isaac-Velocity-Rough-G1-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 5
+      episode_length: 700
+    upper_thresholds:
+      duration: 6000
+  Isaac-Velocity-Rough-Unitree-Go1-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 7
+      episode_length: 700
+    upper_thresholds:
+      duration: 6000
+  Isaac-Velocity-Rough-Unitree-Go2-v0:
+    max_iterations: 1000
+    lower_thresholds:
+      reward: 7
+      episode_length: 700
+    upper_thresholds:
+      duration: 6000
+  # Locomotion-manipulation
+  Isaac-Tracking-LocoManip-Digit-v0:
+    max_iterations: 500
+    lower_thresholds:
+      reward: 5
+      episode_length: 500
+    upper_thresholds:
+      duration: 3000
diff --git a/source/isaaclab_tasks/test/benchmarking/conftest.py b/source/isaaclab_tasks/test/benchmarking/conftest.py
index c878d7e8823..d8b26c3d6b8 100644
--- a/source/isaaclab_tasks/test/benchmarking/conftest.py
+++ b/source/isaaclab_tasks/test/benchmarking/conftest.py
@@ -4,12 +4,15 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import json
+from datetime import datetime
 
 import env_benchmark_test_utils as utils
 import pytest
 
 # Global variable for storing KPI data
 GLOBAL_KPI_STORE = {}
+# Global variable for storing the start timestamp
+START_TIMESTAMP = None
 
 
 def pytest_addoption(parser):
@@ -91,11 +94,17 @@ def pytest_generate_tests(metafunc):
         metafunc.parametrize("workflow", workflows)
 
 
+# The pytest session start hook to capture the start timestamp
+def pytest_sessionstart(session):
+    global START_TIMESTAMP
+    START_TIMESTAMP = datetime.now().isoformat()
+
+
 # The pytest session finish hook
 def pytest_sessionfinish(session, exitstatus):
     # Access global variable instead of fixture
     tag = session.config.getoption("--tag")
-    utils.process_kpi_data(GLOBAL_KPI_STORE, tag=tag)
+    utils.process_kpi_data(GLOBAL_KPI_STORE, tag=tag, timestamp=START_TIMESTAMP)
     print(json.dumps(GLOBAL_KPI_STORE, indent=2))
     save_kpi_payload = session.config.getoption("--save_kpi_payload")
     if save_kpi_payload:
diff --git a/source/isaaclab_tasks/test/benchmarking/env_benchmark_test_utils.py b/source/isaaclab_tasks/test/benchmarking/env_benchmark_test_utils.py
index 0c939ca0166..1434f03f2b2 100644
--- a/source/isaaclab_tasks/test/benchmarking/env_benchmark_test_utils.py
+++ b/source/isaaclab_tasks/test/benchmarking/env_benchmark_test_utils.py
@@ -12,10 +12,27 @@
 import yaml
 from datetime import datetime
 
-import carb
 from tensorboard.backend.event_processing import event_accumulator
 
 
+def _get_repo_path():
+    """Get the repository root by searching for marker files.
+
+    Searches upward from the current file for IsaacLab repository markers
+    (isaaclab.sh or setup.py) to robustly find the repo root.
+    """
+    current = os.path.abspath(__file__)
+    # Look for isaaclab.sh or setup.py as markers (max 10 levels up)
+    for _ in range(10):
+        current = os.path.dirname(current)
+        if os.path.exists(os.path.join(current, "isaaclab.sh")):
+            return current
+        # Fallback marker
+        if os.path.exists(os.path.join(current, "setup.py")) and os.path.exists(os.path.join(current, "source")):
+            return current
+    raise RuntimeError("Could not find IsaacLab repository root. Expected to find 'isaaclab.sh' in parent directories.")
+
+
 def get_env_configs(configs_path):
     """Get environment configurations from yaml filepath."""
     with open(configs_path) as env_configs_file:
@@ -76,14 +93,17 @@ def evaluate_job(workflow, task, env_config, duration):
         if val is None or not isinstance(val, (int, float)) or (isinstance(val, float) and math.isnan(val)):
             continue
         val = round(val, 4)
+        threshold_val_rounded = round(threshold_val, 4)
         if uses_lower_threshold:
-            # print(f"{threshold_name}: {val} > {round(threshold_val, 4)}")
             if val < threshold_val:
                 kpi_payload["success"] = False
+                if not kpi_payload["msg"]:
+                    kpi_payload["msg"] = f"{threshold_name} below threshold: {val} < {threshold_val_rounded}"
         else:
-            # print(f"{threshold_name}: {val} < {round(threshold_val, 4)}")
             if val > threshold_val:
                 kpi_payload["success"] = False
+                if not kpi_payload["msg"]:
+                    kpi_payload["msg"] = f"{threshold_name} above threshold: {val} > {threshold_val_rounded}"
         kpi_payload[threshold_name] = val
         if threshold_name == "reward":
             normalized_reward = val / threshold_val
@@ -98,8 +118,14 @@ def evaluate_job(workflow, task, env_config, duration):
     return kpi_payload
 
 
-def process_kpi_data(kpi_payloads, tag=""):
-    """Combine and augment the KPI payloads."""
+def process_kpi_data(kpi_payloads, tag, timestamp):
+    """Combine and augment the KPI payloads.
+
+    Args:
+        kpi_payloads: Dictionary of KPI payloads for each job.
+        tag: Tag for the KPI payload.
+        timestamp: Timestamp to use (ISO format).
+    """
     # accumulate workflow outcomes
     totals = {}
     successes = {}
@@ -126,7 +152,7 @@ def process_kpi_data(kpi_payloads, tag=""):
         "successes": successes,
         "failures_did_not_finish": failures_did_not_finish,
         "failures_did_not_pass_thresholds": failures_did_not_pass_thresholds,
-        "timestamp": datetime.now().isoformat(),
+        "timestamp": timestamp,
         "tag": tag,
     }
 
@@ -136,7 +162,7 @@ def process_kpi_data(kpi_payloads, tag=""):
 def output_payloads(payloads):
     """Output the KPI payloads to a json file."""
     # first grab all log files
-    repo_path = os.path.join(carb.tokens.get_tokens_interface().resolve("${app}"), "..")
+    repo_path = _get_repo_path()
     output_path = os.path.join(repo_path, "logs/kpi.json")
     # create directory if it doesn't exist
     if not os.path.exists(os.path.dirname(output_path)):
@@ -149,13 +175,15 @@ def output_payloads(payloads):
 def _retrieve_logs(workflow, task):
     """Retrieve training logs."""
     # first grab all log files
-    repo_path = os.path.join(carb.tokens.get_tokens_interface().resolve("${app}"), "..")
+    repo_path = _get_repo_path()
     from isaacsim.core.version import get_version
 
     if int(get_version()[2]) < 5:
         repo_path = os.path.join(repo_path, "..")
     if workflow == "rl_games":
         log_files_path = os.path.join(repo_path, f"logs/{workflow}/{task}/*/summaries/*")
+    elif workflow == "sb3":
+        log_files_path = os.path.join(repo_path, f"logs/{workflow}/{task}/*/*/*.tfevents.*")
     else:
         log_files_path = os.path.join(repo_path, f"logs/{workflow}/{task}/*/*.tfevents.*")
     log_files = glob.glob(log_files_path)
@@ -166,6 +194,12 @@ def _retrieve_logs(workflow, task):
     latest_log_file = max(log_files, key=os.path.getctime)
     # parse tf file into a dictionary
     log_data = _parse_tf_logs(latest_log_file)
+
+    # validate that log data contains entries
+    if not log_data:
+        print(f"Warning: Log file {latest_log_file} parsed but contains no data")
+        return None
+
     return log_data
 
 
@@ -189,7 +223,7 @@ def _extract_log_val(name, log_data, uses_lower_threshold, workflow):
             reward_tags = {
                 "rl_games": "rewards/iter",
                 "rsl_rl": "Train/mean_reward",
-                "sb3": None,  # TODO: complete when sb3 is fixed
+                "sb3": "rollout/ep_rew_mean",
                 "skrl": "Reward / Total reward (mean)",
             }
             tag = reward_tags.get(workflow)
@@ -200,18 +234,17 @@ def _extract_log_val(name, log_data, uses_lower_threshold, workflow):
             episode_tags = {
                 "rl_games": "episode_lengths/iter",
                 "rsl_rl": "Train/mean_episode_length",
-                "sb3": None,  # TODO: complete when sb3 is fixed
+                "sb3": "rollout/ep_len_mean",
                 "skrl": "Episode / Total timesteps (mean)",
             }
             tag = episode_tags.get(workflow)
             if tag:
                 return _extract_feature(log_data, tag, uses_lower_threshold)
-
-        elif name == "training_time":
-            return {"rl_games": log_data["rewards/time"][-1][0], "rsl_rl": None, "sb3": None, "skrl": None}.get(
-                workflow
-            )
-    except Exception:
+    except KeyError as e:
+        print(f"Warning: Metric '{name}' not found in logs for workflow '{workflow}': {e}")
+        return None
+    except Exception as e:
+        print(f"Error extracting '{name}' for workflow '{workflow}': {e}")
         return None
 
     raise ValueError(f"Env Config name {name} is not supported.")
diff --git a/source/isaaclab_tasks/test/benchmarking/test_environments_training.py b/source/isaaclab_tasks/test/benchmarking/test_environments_training.py
index 5fae937ef84..9fc625102de 100644
--- a/source/isaaclab_tasks/test/benchmarking/test_environments_training.py
+++ b/source/isaaclab_tasks/test/benchmarking/test_environments_training.py
@@ -64,14 +64,21 @@ def train_job(workflow, task, env_config, num_gpus):
         cmd.append("--distributed")
 
     # Add experiment name variable
-    cmd.append(f"{WORKFLOW_EXPERIMENT_NAME_VARIABLE[workflow]}={task}")
+    workflow_experiment_name_variable = WORKFLOW_EXPERIMENT_NAME_VARIABLE.get(workflow)
+    if workflow_experiment_name_variable:
+        cmd.append(f"{workflow_experiment_name_variable}={task}")
 
     print("Running : " + " ".join(cmd))
 
     start_time = time.time()
-    subprocess.run(cmd)
+    result = subprocess.run(cmd, capture_output=True, text=True)
     duration = time.time() - start_time
 
+    if result.returncode != 0:
+        print(f"Training failed with exit code {result.returncode}")
+        print(f"STDERR: {result.stderr}")
+        # Still return duration so evaluate_job can report failure via logs
+
     return duration