BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- 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 4:27 Claude Fable 5.2 (D10) 26:09 Claude Opus 5.5 (D10) 26:54 DiT-Flow 5:40 Gemini 4 Argon (D10) 19:37 GPT-6 Astra (D10) 27:33 MolmoAct 2 6:03 Pi 0.5 6:30 Rho 5:32
- Mean duration
- GR00T N1.7 8.9 s Claude Fable 5.2 (D10) 52.3 s Claude Opus 5.5 (D10) 53.8 s DiT-Flow 11.3 s Gemini 4 Argon (D10) 39.2 s GPT-6 Astra (D10) 55.1 s MolmoAct 2 12.1 s Pi 0.5 13.0 s Rho 11.1 s
- Success
- GR00T N1.7 7% Claude Fable 5.2 (D10) 90% Claude Opus 5.5 (D10) 93% DiT-Flow 53% Gemini 4 Argon (D10) 97% GPT-6 Astra (D10) 83% MolmoAct 2 67% Pi 0.5 90% Rho 60%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged78.9%Contact force > 5 N68.6%Gripper engaged or in contact88.2% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving92.4%End-effector moving70.0%Gripper engaged58.9%Contact force > 5 N36.3%Gripper engaged or in contact73.2% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving91.7%End-effector moving81.5%Gripper engaged64.2%Contact force > 5 N59.6%Gripper engaged or in contact80.7% DiT-Flow Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.3%Gripper engaged79.5%Contact force > 5 N60.4%Gripper engaged or in contact88.7% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving88.7%End-effector moving78.6%Gripper engaged62.0%Contact force > 5 N78.4%Gripper engaged or in contact87.2% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving87.2%End-effector moving70.4%Gripper engaged59.9%Contact force > 5 N69.3%Gripper engaged or in contact77.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged74.7%Contact force > 5 N60.6%Gripper engaged or in contact84.4% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged78.6%Contact force > 5 N61.7%Gripper engaged or in contact88.7% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged81.1%Contact force > 5 N65.0%Gripper engaged or in contact87.0%
- 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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