BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- Episodes
- DiT-Flow 30 Claude Fable 5.2 (D10) 30 Claude Opus 5.5 (D10) 30 Gemini 4 Argon (D10) 30 GPT-6 Astra (D10) 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30 Rho 30
- Total duration
- DiT-Flow 24:13 Claude Fable 5.2 (D10) 75:55 Claude Opus 5.5 (D10) 79:52 Gemini 4 Argon (D10) 99:25 GPT-6 Astra (D10) 82:39 GR00T N1.7 14:35 MolmoAct 2 17:19 Pi 0.5 22:23 Rho 14:43
- Mean duration
- DiT-Flow 48.4 s Claude Fable 5.2 (D10) 151.8 s Claude Opus 5.5 (D10) 159.7 s Gemini 4 Argon (D10) 198.8 s GPT-6 Astra (D10) 165.3 s GR00T N1.7 29.2 s MolmoAct 2 34.6 s Pi 0.5 44.8 s Rho 29.4 s
- Success
- DiT-Flow 0% Claude Fable 5.2 (D10) 53% Claude Opus 5.5 (D10) 0% Gemini 4 Argon (D10) 17% GPT-6 Astra (D10) 0% GR00T N1.7 3% MolmoAct 2 3% Pi 0.5 10% Rho 0%
- Manipulation density
- DiT-Flow Share of time manipulating, five definitionsJoints moving97.2%End-effector moving86.9%Gripper engaged48.8%Contact force > 5 N84.7%Gripper engaged or in contact90.4% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving82.4%End-effector moving65.5%Gripper engaged96.8%Contact force > 5 N44.0%Gripper engaged or in contact97.4% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving59.0%End-effector moving43.9%Gripper engaged76.1%Contact force > 5 N78.4%Gripper engaged or in contact93.3% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving56.9%End-effector moving48.0%Gripper engaged23.4%Contact force > 5 N61.5%Gripper engaged or in contact69.1% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving67.7%End-effector moving47.4%Gripper engaged50.2%Contact force > 5 N45.1%Gripper engaged or in contact70.8% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving91.4%Gripper engaged52.5%Contact force > 5 N87.9%Gripper engaged or in contact90.3% MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.8%End-effector moving93.8%Gripper engaged59.1%Contact force > 5 N91.5%Gripper engaged or in contact94.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.0%Gripper engaged60.4%Contact force > 5 N86.9%Gripper engaged or in contact94.9% Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.9%Gripper engaged99.7%Contact force > 5 N85.0%Gripper engaged or in contact99.7%
- SPARC smoothness
- 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. Claude Fable 5.2 (D10) 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 (D10) 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 (D10) 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 (D10) 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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