BenchmarkPAW-GEN-10-Agentic
Environmente04Connect DC jack
- 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 5.5 141:13 Claude Fable 5.2 94:44 DiT-Flow 12:57 Gemini 4 Argon 77:00 GPT-6 Astra 79:18 GR00T N1.7 10:58 MolmoAct 2 9:31 Pi 0.5 18:19 Rho 11:41
- Mean duration
- Claude Opus 5.5 282.4 s Claude Fable 5.2 189.5 s DiT-Flow 25.9 s Gemini 4 Argon 154.0 s GPT-6 Astra 158.6 s GR00T N1.7 21.9 s MolmoAct 2 19.0 s Pi 0.5 36.6 s Rho 23.4 s
- Success
- Claude Opus 5.5 47% Claude Fable 5.2 83% DiT-Flow 0% Gemini 4 Argon 87% 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 moving75.0%End-effector moving44.4%Gripper engaged91.2%Contact force > 5 N53.2%Gripper engaged or in contact95.3% Claude Fable 5.2 Share of time manipulating, five definitionsJoints moving67.5%End-effector moving41.6%Gripper engaged84.7%Contact force > 5 N88.5%Gripper engaged or in contact98.0% DiT-Flow Share of time manipulating, five definitionsJoints moving91.0%End-effector moving66.0%Gripper engaged32.2%Contact force > 5 N61.7%Gripper engaged or in contact70.1% Gemini 4 Argon Share of time manipulating, five definitionsJoints moving89.8%End-effector moving71.2%Gripper engaged100.0%Contact force > 5 N76.5%Gripper engaged or in contact100.0% GPT-6 Astra Share of time manipulating, five definitionsJoints moving69.8%End-effector moving47.4%Gripper engaged82.4%Contact force > 5 N91.9%Gripper engaged or in contact95.3% GR00T N1.7 Share of time manipulating, five definitionsJoints moving97.4%End-effector moving84.0%Gripper engaged58.4%Contact force > 5 N80.9%Gripper engaged or in contact88.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving94.9%Gripper engaged57.6%Contact force > 5 N81.1%Gripper engaged or in contact89.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving96.1%End-effector moving84.7%Gripper engaged80.1%Contact force > 5 N57.7%Gripper engaged or in contact92.6% Rho Share of time manipulating, five definitionsJoints moving99.0%End-effector moving89.2%Gripper engaged58.0%Contact force > 5 N69.7%Gripper engaged or in contact88.2%
- 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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