BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- Episodes
- GR00T N1.7 30 Claude Fable 5.2 (D10) 30 Claude Opus 5.5 (D10) 30 DiT-Flow 30 Gemini 4 Argon (D10) 30 GPT-6 Astra (D10) 30 MolmoAct 2 30 Pi 0.5 30 Rho 30
- Total duration
- GR00T N1.7 17:02 Claude Fable 5.2 (D10) 103:21 Claude Opus 5.5 (D10) 109:40 DiT-Flow 11:58 Gemini 4 Argon (D10) 128:13 GPT-6 Astra (D10) 47:55 MolmoAct 2 5:05 Pi 0.5 24:54 Rho 10:35
- Mean duration
- GR00T N1.7 34.1 s Claude Fable 5.2 (D10) 206.7 s Claude Opus 5.5 (D10) 219.3 s DiT-Flow 23.9 s Gemini 4 Argon (D10) 256.4 s GPT-6 Astra (D10) 95.8 s MolmoAct 2 10.2 s Pi 0.5 49.8 s Rho 21.2 s
- Success
- GR00T N1.7 0% Claude Fable 5.2 (D10) 43% Claude Opus 5.5 (D10) 13% DiT-Flow 0% Gemini 4 Argon (D10) 47% GPT-6 Astra (D10) 0% MolmoAct 2 0% Pi 0.5 0% Rho 0%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.0%End-effector moving90.8%Gripper engaged84.7%Contact force > 5 N73.5%Gripper engaged or in contact96.5% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving66.0%End-effector moving38.5%Gripper engaged86.3%Contact force > 5 N85.3%Gripper engaged or in contact97.7% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving67.7%End-effector moving38.6%Gripper engaged88.2%Contact force > 5 N51.9%Gripper engaged or in contact92.8% DiT-Flow Share of time manipulating, five definitionsJoints moving97.9%End-effector moving65.9%Gripper engaged25.8%Contact force > 5 N53.4%Gripper engaged or in contact65.3% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving78.4%End-effector moving62.2%Gripper engaged100.0%Contact force > 5 N81.2%Gripper engaged or in contact100.0% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving62.2%End-effector moving40.8%Gripper engaged67.5%Contact force > 5 N86.2%Gripper engaged or in contact89.8% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.0%Gripper engaged25.7%Contact force > 5 N69.9%Gripper engaged or in contact72.3% Pi 0.5 Share of time manipulating, five definitionsJoints moving98.1%End-effector moving87.2%Gripper engaged81.9%Contact force > 5 N74.0%Gripper engaged or in contact92.6% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving91.0%Gripper engaged49.3%Contact force > 5 N63.8%Gripper engaged or in contact78.9%
- SPARC smoothness
- 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. 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. 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 (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. 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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