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 12:07 Claude Fable 5.2 (D10) 82:29 Claude Opus 5.5 (D10) 105:48 DiT-Flow 7:08 Gemini 4 Argon (D10) 74:56 GPT-6 Astra (D10) 74:19 GR00T N1.7 10:30 Pi 0.5 9:56 Rho 17:59
- Mean duration
- MolmoAct 2 24.2 s Claude Fable 5.2 (D10) 165.0 s Claude Opus 5.5 (D10) 211.6 s DiT-Flow 14.3 s Gemini 4 Argon (D10) 149.9 s GPT-6 Astra (D10) 148.6 s GR00T N1.7 21.0 s Pi 0.5 19.9 s Rho 36.0 s
- Success
- MolmoAct 2 10% Claude Fable 5.2 (D10) 53% Claude Opus 5.5 (D10) 0% DiT-Flow 0% Gemini 4 Argon (D10) 0% GPT-6 Astra (D10) 0% GR00T N1.7 0% Pi 0.5 0% Rho 10%
- Manipulation density
- MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving94.7%Gripper engaged54.0%Contact force > 5 N90.0%Gripper engaged or in contact93.3% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving83.8%End-effector moving66.4%Gripper engaged98.4%Contact force > 5 N51.1%Gripper engaged or in contact98.8% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving58.6%End-effector moving42.6%Gripper engaged77.1%Contact force > 5 N82.1%Gripper engaged or in contact94.8% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged13.4%Contact force > 5 N87.1%Gripper engaged or in contact88.8% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving52.6%End-effector moving43.8%Gripper engaged14.2%Contact force > 5 N82.1%Gripper engaged or in contact84.8% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving68.7%End-effector moving48.4%Gripper engaged54.4%Contact force > 5 N48.7%Gripper engaged or in contact72.9% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving96.4%Gripper engaged58.8%Contact force > 5 N86.0%Gripper engaged or in contact91.4% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving95.0%Gripper engaged65.9%Contact force > 5 N89.5%Gripper engaged or in contact95.1% Rho Share of time manipulating, five definitionsJoints moving99.4%End-effector moving96.6%Gripper engaged56.6%Contact force > 5 N84.6%Gripper engaged or in contact91.2%
- 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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