BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- 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 36:05 Claude Fable 5.2 (D10) 39:08 Claude Opus 5.5 (D10) 51:44 DiT-Flow 39:30 Gemini 4 Argon (D10) 65:33 GPT-6 Astra (D10) 65:13 MolmoAct 2 24:08 Pi 0.5 34:36 Rho 25:57
- Mean duration
- GR00T N1.7 72.2 s Claude Fable 5.2 (D10) 78.3 s Claude Opus 5.5 (D10) 103.5 s DiT-Flow 79.0 s Gemini 4 Argon (D10) 131.1 s GPT-6 Astra (D10) 130.4 s MolmoAct 2 48.3 s Pi 0.5 69.2 s Rho 51.9 s
- Success
- GR00T N1.7 13% Claude Fable 5.2 (D10) 83% Claude Opus 5.5 (D10) 100% DiT-Flow 0% Gemini 4 Argon (D10) 80% GPT-6 Astra (D10) 77% MolmoAct 2 20% Pi 0.5 7% Rho 70%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.2%Gripper engaged73.4%Contact force > 5 N77.5%Gripper engaged or in contact96.7% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving87.4%End-effector moving67.0%Gripper engaged31.2%Contact force > 5 N55.4%Gripper engaged or in contact62.3% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving90.3%End-effector moving72.1%Gripper engaged60.9%Contact force > 5 N63.9%Gripper engaged or in contact86.1% DiT-Flow Share of time manipulating, five definitionsJoints moving99.3%End-effector moving93.7%Gripper engaged49.8%Contact force > 5 N86.7%Gripper engaged or in contact93.5% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving72.0%End-effector moving53.7%Gripper engaged92.9%Contact force > 5 N80.8%Gripper engaged or in contact98.6% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving86.7%End-effector moving62.0%Gripper engaged38.0%Contact force > 5 N67.7%Gripper engaged or in contact78.2% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving96.1%Gripper engaged53.5%Contact force > 5 N88.4%Gripper engaged or in contact95.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged48.4%Contact force > 5 N87.2%Gripper engaged or in contact93.5% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.3%Gripper engaged50.4%Contact force > 5 N80.5%Gripper engaged or in contact90.3%
- 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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