BenchmarkPAW-GEN-10-Agentic
Environmente02Datum-corner alignment
- Episodes
- Claude Fable 5.2 30 Claude Opus 5.5 30 DiT-Flow 30 Gemini 4 Argon 30 GPT-6 Astra 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30 Rho 30
- Total duration
- Claude Fable 5.2 20:34 Claude Opus 5.5 69:54 DiT-Flow 5:05 Gemini 4 Argon 26:54 GPT-6 Astra 48:26 GR00T N1.7 6:04 MolmoAct 2 6:07 Pi 0.5 4:58 Rho 9:21
- Mean duration
- Claude Fable 5.2 41.1 s Claude Opus 5.5 139.8 s DiT-Flow 10.2 s Gemini 4 Argon 53.8 s GPT-6 Astra 96.9 s GR00T N1.7 12.1 s MolmoAct 2 12.2 s Pi 0.5 9.9 s Rho 18.7 s
- Success
- Claude Fable 5.2 83% Claude Opus 5.5 47% DiT-Flow 0% Gemini 4 Argon 27% GPT-6 Astra 93% GR00T N1.7 7% MolmoAct 2 7% Pi 0.5 7% Rho 37%
- Manipulation density
- Claude Fable 5.2 Share of time manipulating, five definitionsJoints moving90.4%End-effector moving80.9%Gripper engaged43.1%Contact force > 5 N86.6%Gripper engaged or in contact89.4% Claude Opus 5.5 Share of time manipulating, five definitionsJoints moving84.6%End-effector moving69.6%Gripper engaged0.0%Contact force > 5 N82.1%Gripper engaged or in contact82.1% DiT-Flow Share of time manipulating, five definitionsJoints moving98.4%End-effector moving89.9%Gripper engaged0.0%Contact force > 5 N71.5%Gripper engaged or in contact71.5% Gemini 4 Argon Share of time manipulating, five definitionsJoints moving52.8%End-effector moving47.0%Gripper engaged0.0%Contact force > 5 N75.6%Gripper engaged or in contact75.6% GPT-6 Astra Share of time manipulating, five definitionsJoints moving84.5%End-effector moving70.1%Gripper engaged0.0%Contact force > 5 N82.2%Gripper engaged or in contact82.2% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving94.4%Gripper engaged0.0%Contact force > 5 N81.9%Gripper engaged or in contact81.9% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving93.8%Gripper engaged0.0%Contact force > 5 N74.7%Gripper engaged or in contact74.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.3%Gripper engaged0.0%Contact force > 5 N74.4%Gripper engaged or in contact74.4% Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving96.6%Gripper engaged0.0%Contact force > 5 N71.9%Gripper engaged or in contact71.9%
- SPARC smoothness
- Claude Fable 5.2 Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. Claude Opus 5.5 Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. DiT-Flow Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. Gemini 4 Argon Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. GPT-6 Astra Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. GR00T N1.7 Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. MolmoAct 2 Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. Pi 0.5 Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015. Rho Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015.
Episode
Held-out benchmark environment
0:000:33