BenchmarkPAW-GEN-10-Agentic
Environmente02Datum-corner alignment
- 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 50:18 Claude Fable 5.2 23:19 Claude Opus 5.5 100:31 DiT-Flow 5:56 Gemini 4 Argon 12:01 GR00T N1.7 6:28 MolmoAct 2 6:23 Pi 0.5 5:56 Rho 9:01
- Mean duration
- GPT-6 Astra 100.6 s Claude Fable 5.2 46.6 s Claude Opus 5.5 201.0 s DiT-Flow 11.9 s Gemini 4 Argon 24.0 s GR00T N1.7 12.9 s MolmoAct 2 12.8 s Pi 0.5 11.9 s Rho 18.0 s
- Success
- GPT-6 Astra 93% Claude Fable 5.2 80% Claude Opus 5.5 43% DiT-Flow 3% Gemini 4 Argon 47% GR00T N1.7 0% MolmoAct 2 10% Pi 0.5 7% Rho 33%
- Manipulation density
- GPT-6 Astra Share of time manipulating, five definitionsJoints moving84.6%End-effector moving68.7%Gripper engaged0.0%Contact force > 5 N79.9%Gripper engaged or in contact79.9% Claude Fable 5.2 Share of time manipulating, five definitionsJoints moving89.2%End-effector moving79.3%Gripper engaged42.1%Contact force > 5 N87.6%Gripper engaged or in contact93.0% Claude Opus 5.5 Share of time manipulating, five definitionsJoints moving81.1%End-effector moving66.0%Gripper engaged0.0%Contact force > 5 N79.3%Gripper engaged or in contact79.3% DiT-Flow Share of time manipulating, five definitionsJoints moving98.1%End-effector moving94.5%Gripper engaged0.0%Contact force > 5 N62.4%Gripper engaged or in contact62.4% Gemini 4 Argon Share of time manipulating, five definitionsJoints moving75.6%End-effector moving66.6%Gripper engaged0.0%Contact force > 5 N63.5%Gripper engaged or in contact63.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving93.6%Gripper engaged0.0%Contact force > 5 N73.4%Gripper engaged or in contact73.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.6%Gripper engaged0.2%Contact force > 5 N67.4%Gripper engaged or in contact67.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving96.9%Gripper engaged0.0%Contact force > 5 N66.6%Gripper engaged or in contact66.6% Rho Share of time manipulating, five definitionsJoints moving99.3%End-effector moving97.2%Gripper engaged0.0%Contact force > 5 N73.2%Gripper engaged or in contact73.2%
- 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
Held-out benchmark environment
0:002:05