BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- Episodes
- MolmoAct 2 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 GR00T N1.7 30 Pi 0.5 30 Rho 30
- Total duration
- MolmoAct 2 8:42 Claude Fable 5.2 (D10) 26:44 Claude Opus 5.5 (D10) 24:40 DiT-Flow 10:28 Gemini 4 Argon (D10) 19:57 GPT-6 Astra (D10) 35:59 GR00T N1.7 7:26 Pi 0.5 9:29 Rho 3:48
- Mean duration
- MolmoAct 2 17.4 s Claude Fable 5.2 (D10) 53.5 s Claude Opus 5.5 (D10) 49.3 s DiT-Flow 20.9 s Gemini 4 Argon (D10) 39.9 s GPT-6 Astra (D10) 72.0 s GR00T N1.7 14.9 s Pi 0.5 19.0 s Rho 7.6 s
- Success
- MolmoAct 2 7% Claude Fable 5.2 (D10) 93% Claude Opus 5.5 (D10) 77% DiT-Flow 0% Gemini 4 Argon (D10) 93% GPT-6 Astra (D10) 60% GR00T N1.7 7% Pi 0.5 20% Rho 10%
- Manipulation density
- MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving99.0%Gripper engaged57.3%Contact force > 5 N54.3%Gripper engaged or in contact72.7% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving90.7%End-effector moving69.9%Gripper engaged58.1%Contact force > 5 N43.8%Gripper engaged or in contact74.8% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving90.6%End-effector moving79.9%Gripper engaged62.5%Contact force > 5 N61.8%Gripper engaged or in contact79.3% DiT-Flow Share of time manipulating, five definitionsJoints moving99.7%End-effector moving98.2%Gripper engaged80.6%Contact force > 5 N42.6%Gripper engaged or in contact86.5% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving88.2%End-effector moving80.6%Gripper engaged64.3%Contact force > 5 N80.2%Gripper engaged or in contact89.0% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving73.4%End-effector moving53.0%Gripper engaged56.5%Contact force > 5 N71.2%Gripper engaged or in contact77.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged77.5%Contact force > 5 N71.9%Gripper engaged or in contact90.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged78.0%Contact force > 5 N53.7%Gripper engaged or in contact88.3% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged76.7%Contact force > 5 N65.9%Gripper engaged or in contact83.8%
- 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 (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. 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
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