BenchmarkPAW-GEN-10
Environmente10Clamp electrical component
- 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 11:07 Claude Fable 5.2 (D10) 100:38 Claude Opus 5.5 (D10) 91:55 DiT-Flow 18:04 Gemini 4 Argon (D10) 139:28 GPT-6 Astra (D10) 47:51 MolmoAct 2 15:03 Pi 0.5 10:00 Rho 17:47
- Mean duration
- GR00T N1.7 22.2 s Claude Fable 5.2 (D10) 201.3 s Claude Opus 5.5 (D10) 183.8 s DiT-Flow 36.1 s Gemini 4 Argon (D10) 278.9 s GPT-6 Astra (D10) 95.7 s MolmoAct 2 30.1 s Pi 0.5 20.0 s Rho 35.5 s
- Success
- GR00T N1.7 0% Claude Fable 5.2 (D10) 87% Claude Opus 5.5 (D10) 33% DiT-Flow 3% Gemini 4 Argon (D10) 7% GPT-6 Astra (D10) 7% MolmoAct 2 27% Pi 0.5 3% Rho 20%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving98.4%End-effector moving92.6%Gripper engaged87.8%Contact force > 5 N89.8%Gripper engaged or in contact96.3% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving88.2%End-effector moving71.1%Gripper engaged98.1%Contact force > 5 N52.7%Gripper engaged or in contact98.1% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving91.0%End-effector moving75.5%Gripper engaged98.6%Contact force > 5 N75.8%Gripper engaged or in contact98.6% DiT-Flow Share of time manipulating, five definitionsJoints moving86.8%End-effector moving64.3%Gripper engaged92.1%Contact force > 5 N77.4%Gripper engaged or in contact97.4% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving36.3%End-effector moving25.6%Gripper engaged17.6%Contact force > 5 N52.0%Gripper engaged or in contact56.3% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving74.5%End-effector moving54.7%Gripper engaged72.2%Contact force > 5 N93.8%Gripper engaged or in contact95.9% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving92.1%Gripper engaged89.9%Contact force > 5 N85.1%Gripper engaged or in contact95.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.4%Gripper engaged85.7%Contact force > 5 N87.6%Gripper engaged or in contact95.2% Rho Share of time manipulating, five definitionsJoints moving98.1%End-effector moving90.0%Gripper engaged88.0%Contact force > 5 N88.7%Gripper engaged or in contact96.6%
- 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
0:000:18