BenchmarkPAW-GEN-10
Environmente07Place loaded boxes in container (bimanual)
- Episodes
- MolmoAct 2 30 Claude Fable 5.2 30 Claude Opus 5.5 30 DiT-Flow 30 Gemini 4 Argon 30 GPT-6 Astra 30 GR00T N1.7 30 Pi 0.5 30 Rho 30
- Total duration
- MolmoAct 2 3:27 Claude Fable 5.2 141:44 Claude Opus 5.5 42:55 DiT-Flow 9:01 Gemini 4 Argon 37:09 GPT-6 Astra 40:07 GR00T N1.7 5:05 Pi 0.5 3:32 Rho 23:59
- Mean duration
- MolmoAct 2 6.9 s Claude Fable 5.2 283.5 s Claude Opus 5.5 85.8 s DiT-Flow 18.0 s Gemini 4 Argon 74.3 s GPT-6 Astra 80.2 s GR00T N1.7 10.2 s Pi 0.5 7.1 s Rho 48.0 s
- Success
- MolmoAct 2 0% Claude Fable 5.2 7% Claude Opus 5.5 3% DiT-Flow 0% Gemini 4 Argon 3% GPT-6 Astra 10% GR00T N1.7 0% Pi 0.5 0% Rho 0%
- Manipulation density
- MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged19.2%Contact force > 5 N54.2%Gripper engaged or in contact56.9% Claude Fable 5.2 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 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 moving98.1%End-effector moving89.9%Gripper engaged9.3%Contact force > 5 N27.1%Gripper engaged or in contact33.9% Gemini 4 Argon 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 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% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged40.7%Contact force > 5 N56.0%Gripper engaged or in contact73.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged19.3%Contact force > 5 N61.5%Gripper engaged or in contact66.4% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.6%Gripper engaged69.4%Contact force > 5 N58.3%Gripper engaged or in contact87.4%
- SPARC smoothness
- 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. Claude Fable 5.2 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. Claude Opus 5.5 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. 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 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 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. 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. 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
0:000:07