BenchmarkPAW-GEN-10-Agentic
Environmente09Open the toolbox with a screwdriver
- Episodes
- Claude Opus 5.5 30 Claude Fable 5.2 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 Opus 5.5 104:32 Claude Fable 5.2 139:28 DiT-Flow 7:45 Gemini 4 Argon 59:28 GPT-6 Astra 53:15 GR00T N1.7 10:42 MolmoAct 2 17:11 Pi 0.5 11:53 Rho 10:19
- Mean duration
- Claude Opus 5.5 209.1 s Claude Fable 5.2 278.9 s DiT-Flow 15.5 s Gemini 4 Argon 118.9 s GPT-6 Astra 106.5 s GR00T N1.7 21.4 s MolmoAct 2 34.4 s Pi 0.5 23.8 s Rho 20.6 s
- Success
- Claude Opus 5.5 7% Claude Fable 5.2 0% DiT-Flow 0% Gemini 4 Argon 0% GPT-6 Astra 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0% Rho 0%
- Manipulation density
- Claude Opus 5.5 Share of time manipulating, five definitionsJoints moving85.4%End-effector moving63.9%Gripper engaged58.7%Contact force > 5 N71.5%Gripper engaged or in contact84.9% Claude Fable 5.2 Share of time manipulating, five definitionsJoints moving86.8%End-effector moving63.5%Gripper engaged74.4%Contact force > 5 N40.9%Gripper engaged or in contact85.4% DiT-Flow Share of time manipulating, five definitionsJoints moving95.7%End-effector moving84.8%Gripper engaged18.5%Contact force > 5 N78.5%Gripper engaged or in contact85.3% Gemini 4 Argon Share of time manipulating, five definitionsJoints moving86.9%End-effector moving74.2%Gripper engaged59.6%Contact force > 5 N68.8%Gripper engaged or in contact86.6% GPT-6 Astra Share of time manipulating, five definitionsJoints moving83.4%End-effector moving62.7%Gripper engaged52.4%Contact force > 5 N47.1%Gripper engaged or in contact67.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.0%End-effector moving96.7%Gripper engaged43.5%Contact force > 5 N78.4%Gripper engaged or in contact89.6% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving82.1%Gripper engaged23.3%Contact force > 5 N93.2%Gripper engaged or in contact94.0% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.7%Gripper engaged53.2%Contact force > 5 N87.2%Gripper engaged or in contact95.5% Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving99.0%Gripper engaged49.1%Contact force > 5 N82.3%Gripper engaged or in contact89.4%
- SPARC smoothness
- 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. 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. 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
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