BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- 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 21:37 Claude Fable 5.2 (D10) 88:24 Claude Opus 5.5 (D10) 94:58 DiT-Flow 19:03 Gemini 4 Argon (D10) 72:34 GPT-6 Astra (D10) 83:38 GR00T N1.7 14:36 Pi 0.5 21:40 Rho 14:39
- Mean duration
- MolmoAct 2 43.2 s Claude Fable 5.2 (D10) 176.8 s Claude Opus 5.5 (D10) 189.9 s DiT-Flow 38.1 s Gemini 4 Argon (D10) 145.1 s GPT-6 Astra (D10) 167.3 s GR00T N1.7 29.2 s Pi 0.5 43.3 s Rho 29.3 s
- Success
- MolmoAct 2 17% Claude Fable 5.2 (D10) 47% Claude Opus 5.5 (D10) 0% DiT-Flow 0% Gemini 4 Argon (D10) 3% GPT-6 Astra (D10) 0% GR00T N1.7 0% Pi 0.5 10% Rho 7%
- Manipulation density
- MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.5%End-effector moving91.5%Gripper engaged59.6%Contact force > 5 N93.9%Gripper engaged or in contact96.8% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving84.1%End-effector moving67.5%Gripper engaged96.7%Contact force > 5 N53.0%Gripper engaged or in contact98.1% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving67.4%End-effector moving50.8%Gripper engaged60.4%Contact force > 5 N77.0%Gripper engaged or in contact87.5% DiT-Flow Share of time manipulating, five definitionsJoints moving97.3%End-effector moving87.4%Gripper engaged60.3%Contact force > 5 N89.8%Gripper engaged or in contact95.6% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving60.1%End-effector moving51.1%Gripper engaged23.3%Contact force > 5 N59.0%Gripper engaged or in contact64.6% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving66.3%End-effector moving47.3%Gripper engaged48.8%Contact force > 5 N47.0%Gripper engaged or in contact71.3% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving90.1%Gripper engaged64.6%Contact force > 5 N90.8%Gripper engaged or in contact94.0% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving93.3%Gripper engaged59.5%Contact force > 5 N86.1%Gripper engaged or in contact95.0% Rho Share of time manipulating, five definitionsJoints moving99.7%End-effector moving97.2%Gripper engaged99.7%Contact force > 5 N85.5%Gripper engaged or in contact99.7%
- 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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