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 18:59 Claude Fable 5.2 (D10) 128:05 Claude Opus 5.5 (D10) 42:11 DiT-Flow 18:29 Gemini 4 Argon (D10) 44:18 GPT-6 Astra (D10) 45:32 MolmoAct 2 19:22 Pi 0.5 19:31 Rho 19:25
- Mean duration
- GR00T N1.7 38.0 s Claude Fable 5.2 (D10) 256.2 s Claude Opus 5.5 (D10) 84.4 s DiT-Flow 37.0 s Gemini 4 Argon (D10) 88.6 s GPT-6 Astra (D10) 91.1 s MolmoAct 2 38.7 s Pi 0.5 39.0 s Rho 38.8 s
- Success
- GR00T N1.7 0% Claude Fable 5.2 (D10) 20% Claude Opus 5.5 (D10) 3% DiT-Flow 73% Gemini 4 Argon (D10) 3% GPT-6 Astra (D10) 13% MolmoAct 2 80% Pi 0.5 47% Rho 63%
- Manipulation density
- GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged69.3%Contact force > 5 N67.2%Gripper engaged or in contact89.7% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving71.8%End-effector moving38.5%Gripper engaged75.8%Contact force > 5 N78.7%Gripper engaged or in contact91.0% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving94.8%End-effector moving73.8%Gripper engaged68.4%Contact force > 5 N81.1%Gripper engaged or in contact82.1% DiT-Flow Share of time manipulating, five definitionsJoints moving99.4%End-effector moving97.6%Gripper engaged66.2%Contact force > 5 N74.3%Gripper engaged or in contact87.3% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving88.7%End-effector moving72.2%Gripper engaged57.3%Contact force > 5 N72.0%Gripper engaged or in contact82.4% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving75.4%End-effector moving50.0%Gripper engaged63.5%Contact force > 5 N73.1%Gripper engaged or in contact78.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged63.3%Contact force > 5 N79.3%Gripper engaged or in contact86.0% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.8%Gripper engaged66.9%Contact force > 5 N70.9%Gripper engaged or in contact85.6% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged64.7%Contact force > 5 N75.1%Gripper engaged or in contact82.1%
- 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
0:000:38