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 23:13 Claude Fable 5.2 (D10) 88:24 Claude Opus 5.5 (D10) 94:58 DiT-Flow 21:45 Gemini 4 Argon (D10) 72:34 GPT-6 Astra (D10) 83:38 GR00T N1.7 12:33 Pi 0.5 21:29 Rho 16:15
- Mean duration
- MolmoAct 2 46.4 s Claude Fable 5.2 (D10) 176.8 s Claude Opus 5.5 (D10) 189.9 s DiT-Flow 43.5 s Gemini 4 Argon (D10) 145.1 s GPT-6 Astra (D10) 167.3 s GR00T N1.7 25.1 s Pi 0.5 43.0 s Rho 32.5 s
- Success
- MolmoAct 2 50% 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 moving99.6%End-effector moving94.3%Gripper engaged58.0%Contact force > 5 N91.5%Gripper engaged or in contact97.0% 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 moving97.1%End-effector moving86.2%Gripper engaged59.4%Contact force > 5 N90.8%Gripper engaged or in contact96.6% 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 moving99.7%End-effector moving94.9%Gripper engaged56.6%Contact force > 5 N87.9%Gripper engaged or in contact91.1% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving95.5%Gripper engaged60.8%Contact force > 5 N86.2%Gripper engaged or in contact94.4% Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.5%Gripper engaged57.2%Contact force > 5 N87.9%Gripper engaged or in contact93.4%
- 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 (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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