BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- 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 34:16 Claude Fable 5.2 (D10) 39:08 Claude Opus 5.5 (D10) 51:44 DiT-Flow 31:23 Gemini 4 Argon (D10) 65:33 GPT-6 Astra (D10) 65:13 GR00T N1.7 27:16 Pi 0.5 32:23 Rho 28:54
- Mean duration
- MolmoAct 2 68.5 s Claude Fable 5.2 (D10) 78.3 s Claude Opus 5.5 (D10) 103.5 s DiT-Flow 62.8 s Gemini 4 Argon (D10) 131.1 s GPT-6 Astra (D10) 130.4 s GR00T N1.7 54.5 s Pi 0.5 64.8 s Rho 57.8 s
- Success
- MolmoAct 2 27% Claude Fable 5.2 (D10) 83% Claude Opus 5.5 (D10) 100% DiT-Flow 0% Gemini 4 Argon (D10) 80% GPT-6 Astra (D10) 77% GR00T N1.7 0% Pi 0.5 17% Rho 73%
- Manipulation density
- MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.9%End-effector moving93.6%Gripper engaged52.3%Contact force > 5 N84.0%Gripper engaged or in contact92.8% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving87.4%End-effector moving67.0%Gripper engaged31.2%Contact force > 5 N55.4%Gripper engaged or in contact62.3% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving90.3%End-effector moving72.1%Gripper engaged60.9%Contact force > 5 N63.9%Gripper engaged or in contact86.1% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving96.5%Gripper engaged55.4%Contact force > 5 N85.0%Gripper engaged or in contact92.4% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving72.0%End-effector moving53.7%Gripper engaged92.9%Contact force > 5 N80.8%Gripper engaged or in contact98.6% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving86.7%End-effector moving62.0%Gripper engaged38.0%Contact force > 5 N67.7%Gripper engaged or in contact78.2% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.0%Gripper engaged60.6%Contact force > 5 N78.4%Gripper engaged or in contact92.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged50.7%Contact force > 5 N85.4%Gripper engaged or in contact91.8% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.8%Gripper engaged52.0%Contact force > 5 N77.8%Gripper engaged or in contact89.1%
- 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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