BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- Episodes
- Pi 0.5 30 Claude Fable 5.2 30 Claude Opus 5.5 30 DiT-Flow 30 Gemini 4 Argon 30 GPT-6 Astra 30 GR00T N1.7 30 MolmoAct 2 30 Rho 30
- Total duration
- Pi 0.5 18:01 Claude Fable 5.2 103:21 Claude Opus 5.5 109:40 DiT-Flow 22:07 Gemini 4 Argon 128:13 GPT-6 Astra 47:55 GR00T N1.7 4:51 MolmoAct 2 4:52 Rho 3:12
- Mean duration
- Pi 0.5 36.0 s Claude Fable 5.2 206.7 s Claude Opus 5.5 219.3 s DiT-Flow 44.2 s Gemini 4 Argon 256.4 s GPT-6 Astra 95.8 s GR00T N1.7 9.7 s MolmoAct 2 9.7 s Rho 6.4 s
- Success
- Pi 0.5 0% Claude Fable 5.2 43% Claude Opus 5.5 13% DiT-Flow 0% Gemini 4 Argon 47% GPT-6 Astra 0% GR00T N1.7 0% MolmoAct 2 0% Rho 0%
- Manipulation density
- Pi 0.5 Share of time manipulating, five definitionsJoints moving97.5%End-effector moving89.6%Gripper engaged72.3%Contact force > 5 N56.4%Gripper engaged or in contact90.9% Claude Fable 5.2 Share of time manipulating, five definitionsJoints moving66.0%End-effector moving38.5%Gripper engaged86.3%Contact force > 5 N85.3%Gripper engaged or in contact97.7% Claude Opus 5.5 Share of time manipulating, five definitionsJoints moving67.7%End-effector moving38.6%Gripper engaged88.2%Contact force > 5 N51.9%Gripper engaged or in contact92.8% DiT-Flow Share of time manipulating, five definitionsJoints moving76.9%End-effector moving50.2%Gripper engaged9.8%Contact force > 5 N34.3%Gripper engaged or in contact41.0% Gemini 4 Argon Share of time manipulating, five definitionsJoints moving78.4%End-effector moving62.2%Gripper engaged100.0%Contact force > 5 N81.2%Gripper engaged or in contact100.0% GPT-6 Astra Share of time manipulating, five definitionsJoints moving62.2%End-effector moving40.8%Gripper engaged67.5%Contact force > 5 N86.2%Gripper engaged or in contact89.8% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving93.4%Gripper engaged32.1%Contact force > 5 N62.6%Gripper engaged or in contact77.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.0%Gripper engaged23.2%Contact force > 5 N68.7%Gripper engaged or in contact73.9% Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.2%Gripper engaged0.4%Contact force > 5 N56.3%Gripper engaged or in contact56.6%
- SPARC smoothness
- 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. Claude Fable 5.2 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 Opus 5.5 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. 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 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 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. 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. 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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