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 36:13 Claude Fable 5.2 (D10) 39:29 Claude Opus 5.5 (D10) 49:00 DiT-Flow 34:10 Gemini 4 Argon (D10) 69:19 GPT-6 Astra (D10) 67:49 MolmoAct 2 34:50 Pi 0.5 37:16 Rho 28:32
- Mean duration
- GR00T N1.7 72.4 s Claude Fable 5.2 (D10) 79.0 s Claude Opus 5.5 (D10) 98.0 s DiT-Flow 68.3 s Gemini 4 Argon (D10) 138.6 s GPT-6 Astra (D10) 135.6 s MolmoAct 2 69.7 s Pi 0.5 74.5 s Rho 57.1 s
- Success
- GR00T N1.7 0% Claude Fable 5.2 (D10) 100% Claude Opus 5.5 (D10) 100% DiT-Flow 3% Gemini 4 Argon (D10) 77% GPT-6 Astra (D10) 100% MolmoAct 2 13% Pi 0.5 0% Rho 17%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.8%Gripper engaged64.9%Contact force > 5 N77.9%Gripper engaged or in contact93.2% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving83.4%End-effector moving65.2%Gripper engaged33.9%Contact force > 5 N54.8%Gripper engaged or in contact62.7% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving89.1%End-effector moving71.1%Gripper engaged64.4%Contact force > 5 N55.9%Gripper engaged or in contact83.3% DiT-Flow Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.8%Gripper engaged58.1%Contact force > 5 N84.2%Gripper engaged or in contact92.4% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving66.7%End-effector moving50.1%Gripper engaged94.7%Contact force > 5 N78.3%Gripper engaged or in contact98.4% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving92.5%End-effector moving66.8%Gripper engaged32.3%Contact force > 5 N73.5%Gripper engaged or in contact80.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving95.9%Gripper engaged54.7%Contact force > 5 N81.4%Gripper engaged or in contact91.1% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged52.1%Contact force > 5 N85.2%Gripper engaged or in contact91.9% Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving95.3%Gripper engaged46.4%Contact force > 5 N79.8%Gripper engaged or in contact88.0%
- 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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