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 58:41 Claude Fable 5.2 125:01 Claude Opus 5.5 125:46 DiT-Flow 14:14 Gemini 4 Argon 69:12 GR00T N1.7 12:29 MolmoAct 2 8:04 Pi 0.5 10:51 Rho 13:16
- Mean duration
- GPT-6 Astra 117.4 s Claude Fable 5.2 250.0 s Claude Opus 5.5 251.5 s DiT-Flow 28.5 s Gemini 4 Argon 138.4 s GR00T N1.7 25.0 s MolmoAct 2 16.1 s Pi 0.5 21.7 s Rho 26.5 s
- Success
- GPT-6 Astra 0% Claude Fable 5.2 70% Claude Opus 5.5 17% DiT-Flow 0% Gemini 4 Argon 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0% Rho 3%
- Manipulation density
- GPT-6 Astra Share of time manipulating, five definitionsJoints moving88.7%End-effector moving66.7%Gripper engaged46.2%Contact force > 5 N48.1%Gripper engaged or in contact67.7% Claude Fable 5.2 Share of time manipulating, five definitionsJoints moving90.3%End-effector moving68.3%Gripper engaged73.5%Contact force > 5 N46.5%Gripper engaged or in contact85.4% Claude Opus 5.5 Share of time manipulating, five definitionsJoints moving88.8%End-effector moving66.4%Gripper engaged66.1%Contact force > 5 N73.5%Gripper engaged or in contact90.8% DiT-Flow Share of time manipulating, five definitionsJoints moving98.7%End-effector moving96.1%Gripper engaged57.1%Contact force > 5 N79.7%Gripper engaged or in contact91.6% Gemini 4 Argon Share of time manipulating, five definitionsJoints moving50.4%End-effector moving41.7%Gripper engaged8.2%Contact force > 5 N64.6%Gripper engaged or in contact66.1% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.2%Gripper engaged64.3%Contact force > 5 N87.8%Gripper engaged or in contact96.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving87.5%Gripper engaged20.7%Contact force > 5 N85.4%Gripper engaged or in contact86.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving98.9%End-effector moving96.9%Gripper engaged58.8%Contact force > 5 N85.8%Gripper engaged or in contact95.5% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged59.4%Contact force > 5 N87.2%Gripper engaged or in contact94.3%
- 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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