BenchmarkPAW-GEN-10-Agentic
Environmente09Open the toolbox with a screwdriver
- Episodes
- GPT-6 Astra 30 Claude Fable 5.2 30 Claude Opus 5.5 30 DiT-Flow 30 Gemini 4 Argon 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30 Rho 30
- Total duration
- GPT-6 Astra 96:37 Claude Fable 5.2 161:41 Claude Opus 5.5 129:42 DiT-Flow 13:59 Gemini 4 Argon 61:43 GR00T N1.7 12:49 MolmoAct 2 9:32 Pi 0.5 10:39 Rho 14:09
- Mean duration
- GPT-6 Astra 193.2 s Claude Fable 5.2 323.4 s Claude Opus 5.5 259.4 s DiT-Flow 28.0 s Gemini 4 Argon 123.4 s GR00T N1.7 25.6 s MolmoAct 2 19.1 s Pi 0.5 21.3 s Rho 28.3 s
- Success
- GPT-6 Astra 0% Claude Fable 5.2 0% Claude Opus 5.5 3% DiT-Flow 3% Gemini 4 Argon 0% GR00T N1.7 3% MolmoAct 2 0% Pi 0.5 0% Rho 0%
- Manipulation density
- GPT-6 Astra Share of time manipulating, five definitionsJoints moving90.7%End-effector moving64.5%Gripper engaged66.3%Contact force > 5 N49.9%Gripper engaged or in contact79.3% Claude Fable 5.2 Share of time manipulating, five definitionsJoints moving84.4%End-effector moving62.1%Gripper engaged75.9%Contact force > 5 N42.8%Gripper engaged or in contact86.0% Claude Opus 5.5 Share of time manipulating, five definitionsJoints moving87.5%End-effector moving65.1%Gripper engaged66.9%Contact force > 5 N71.5%Gripper engaged or in contact90.4% DiT-Flow Share of time manipulating, five definitionsJoints moving98.8%End-effector moving94.1%Gripper engaged56.2%Contact force > 5 N77.3%Gripper engaged or in contact92.1% Gemini 4 Argon Share of time manipulating, five definitionsJoints moving84.4%End-effector moving73.2%Gripper engaged66.8%Contact force > 5 N70.8%Gripper engaged or in contact91.0% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.3%Gripper engaged67.7%Contact force > 5 N83.7%Gripper engaged or in contact95.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving91.7%Gripper engaged24.5%Contact force > 5 N88.1%Gripper engaged or in contact92.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.5%End-effector moving96.9%Gripper engaged52.3%Contact force > 5 N86.3%Gripper engaged or in contact95.4% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.8%Gripper engaged28.3%Contact force > 5 N81.2%Gripper engaged or in contact86.0%
- SPARC smoothness
- 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. 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. 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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