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 9:24 Claude Fable 5.2 (D10) 26:44 Claude Opus 5.5 (D10) 24:40 DiT-Flow 9:52 Gemini 4 Argon (D10) 19:57 GPT-6 Astra (D10) 35:59 GR00T N1.7 7:55 Pi 0.5 8:04 Rho 5:25
- Mean duration
- MolmoAct 2 18.8 s Claude Fable 5.2 (D10) 53.5 s Claude Opus 5.5 (D10) 49.3 s DiT-Flow 19.7 s Gemini 4 Argon (D10) 39.9 s GPT-6 Astra (D10) 72.0 s GR00T N1.7 15.8 s Pi 0.5 16.1 s Rho 10.8 s
- Success
- MolmoAct 2 10% Claude Fable 5.2 (D10) 93% Claude Opus 5.5 (D10) 77% DiT-Flow 13% Gemini 4 Argon (D10) 93% GPT-6 Astra (D10) 60% GR00T N1.7 23% Pi 0.5 43% Rho 43%
- Manipulation density
- MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.1%Gripper engaged65.6%Contact force > 5 N62.7%Gripper engaged or in contact81.2% 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 moving99.9%End-effector moving99.2%Gripper engaged72.3%Contact force > 5 N45.3%Gripper engaged or in contact81.8% 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 engaged82.2%Contact force > 5 N70.9%Gripper engaged or in contact91.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged80.1%Contact force > 5 N53.6%Gripper engaged or in contact89.3% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged80.6%Contact force > 5 N58.6%Gripper engaged or in contact88.1%
- 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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