BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- 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 20:49 Claude Fable 5.2 (D10) 75:55 Claude Opus 5.5 (D10) 79:52 DiT-Flow 24:33 Gemini 4 Argon (D10) 99:25 GPT-6 Astra (D10) 82:39 MolmoAct 2 23:57 Pi 0.5 23:16 Rho 21:19
- Mean duration
- GR00T N1.7 41.6 s Claude Fable 5.2 (D10) 151.8 s Claude Opus 5.5 (D10) 159.7 s DiT-Flow 49.1 s Gemini 4 Argon (D10) 198.8 s GPT-6 Astra (D10) 165.3 s MolmoAct 2 47.9 s Pi 0.5 46.5 s Rho 42.6 s
- Success
- GR00T N1.7 0% Claude Fable 5.2 (D10) 53% Claude Opus 5.5 (D10) 0% DiT-Flow 0% Gemini 4 Argon (D10) 17% GPT-6 Astra (D10) 0% MolmoAct 2 53% Pi 0.5 27% Rho 7%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving91.4%Gripper engaged60.7%Contact force > 5 N86.8%Gripper engaged or in contact92.2% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving82.4%End-effector moving65.5%Gripper engaged96.8%Contact force > 5 N44.0%Gripper engaged or in contact97.4% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving59.0%End-effector moving43.9%Gripper engaged76.1%Contact force > 5 N78.4%Gripper engaged or in contact93.3% DiT-Flow Share of time manipulating, five definitionsJoints moving97.1%End-effector moving81.7%Gripper engaged57.7%Contact force > 5 N91.5%Gripper engaged or in contact96.5% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving56.9%End-effector moving48.0%Gripper engaged23.4%Contact force > 5 N61.5%Gripper engaged or in contact69.1% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving67.7%End-effector moving47.4%Gripper engaged50.2%Contact force > 5 N45.1%Gripper engaged or in contact70.8% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.0%Gripper engaged56.2%Contact force > 5 N94.6%Gripper engaged or in contact98.2% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving96.9%Gripper engaged57.5%Contact force > 5 N83.1%Gripper engaged or in contact92.9% Rho Share of time manipulating, five definitionsJoints moving99.7%End-effector moving97.1%Gripper engaged56.8%Contact force > 5 N84.9%Gripper engaged or in contact93.2%
- 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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