BenchmarkPAW-GEN-10
Environmente07Place loaded boxes in container (bimanual)
- 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 16:29 Claude Fable 5.2 (D10) 141:44 Claude Opus 5.5 (D10) 42:55 DiT-Flow 13:47 Gemini 4 Argon (D10) 37:09 GPT-6 Astra (D10) 40:07 MolmoAct 2 16:55 Pi 0.5 16:43 Rho 11:01
- Mean duration
- GR00T N1.7 33.0 s Claude Fable 5.2 (D10) 283.5 s Claude Opus 5.5 (D10) 85.8 s DiT-Flow 27.6 s Gemini 4 Argon (D10) 74.3 s GPT-6 Astra (D10) 80.2 s MolmoAct 2 33.8 s Pi 0.5 33.4 s Rho 22.0 s
- Success
- GR00T N1.7 0% Claude Fable 5.2 (D10) 7% Claude Opus 5.5 (D10) 3% DiT-Flow 0% Gemini 4 Argon (D10) 3% GPT-6 Astra (D10) 10% MolmoAct 2 7% Pi 0.5 0% Rho 3%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving96.2%Gripper engaged77.6%Contact force > 5 N44.2%Gripper engaged or in contact93.3% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving73.0%End-effector moving40.9%Gripper engaged74.2%Contact force > 5 N76.3%Gripper engaged or in contact88.2% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving93.5%End-effector moving72.6%Gripper engaged69.7%Contact force > 5 N77.1%Gripper engaged or in contact84.5% DiT-Flow Share of time manipulating, five definitionsJoints moving98.8%End-effector moving88.3%Gripper engaged36.2%Contact force > 5 N65.9%Gripper engaged or in contact72.8% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving90.3%End-effector moving75.6%Gripper engaged56.2%Contact force > 5 N76.2%Gripper engaged or in contact83.5% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving75.0%End-effector moving49.7%Gripper engaged64.2%Contact force > 5 N74.1%Gripper engaged or in contact79.8% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.1%Gripper engaged58.5%Contact force > 5 N60.2%Gripper engaged or in contact81.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged62.1%Contact force > 5 N56.4%Gripper engaged or in contact82.1% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged59.6%Contact force > 5 N63.9%Gripper engaged or in contact80.5%
- 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
Held-out benchmark environment
0:000:54