BenchmarkPAW-GEN-10
Environmente10Clamp electrical component
- Episodes
- Pi 0.5 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 MolmoAct 2 30 Rho 30
- Total duration
- Pi 0.5 7:38 Claude Fable 5.2 (D10) 63:53 Claude Opus 5.5 (D10) 55:15 DiT-Flow 17:36 Gemini 4 Argon (D10) 72:18 GPT-6 Astra (D10) 24:13 GR00T N1.7 7:40 MolmoAct 2 8:43 Rho 11:37
- Mean duration
- Pi 0.5 15.3 s Claude Fable 5.2 (D10) 127.8 s Claude Opus 5.5 (D10) 110.5 s DiT-Flow 35.2 s Gemini 4 Argon (D10) 144.6 s GPT-6 Astra (D10) 48.4 s GR00T N1.7 15.3 s MolmoAct 2 17.4 s Rho 23.2 s
- Success
- Pi 0.5 0% Claude Fable 5.2 (D10) 43% Claude Opus 5.5 (D10) 20% DiT-Flow 0% Gemini 4 Argon (D10) 0% GPT-6 Astra (D10) 3% GR00T N1.7 0% MolmoAct 2 0% Rho 0%
- Manipulation density
- Pi 0.5 Share of time manipulating, five definitionsJoints moving99.5%End-effector moving96.0%Gripper engaged79.9%Contact force > 5 N78.6%Gripper engaged or in contact93.7% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving79.9%End-effector moving62.6%Gripper engaged93.3%Contact force > 5 N51.4%Gripper engaged or in contact96.8% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving93.5%End-effector moving84.1%Gripper engaged97.6%Contact force > 5 N83.9%Gripper engaged or in contact97.6% DiT-Flow Share of time manipulating, five definitionsJoints moving93.8%End-effector moving79.0%Gripper engaged19.6%Contact force > 5 N53.2%Gripper engaged or in contact60.4% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving46.6%End-effector moving38.2%Gripper engaged33.1%Contact force > 5 N55.1%Gripper engaged or in contact61.4% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving59.1%End-effector moving42.0%Gripper engaged50.4%Contact force > 5 N78.7%Gripper engaged or in contact81.0% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving96.1%Gripper engaged80.2%Contact force > 5 N76.5%Gripper engaged or in contact94.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.2%End-effector moving95.0%Gripper engaged62.1%Contact force > 5 N81.2%Gripper engaged or in contact89.3% Rho Share of time manipulating, five definitionsJoints moving98.1%End-effector moving89.8%Gripper engaged87.0%Contact force > 5 N73.6%Gripper engaged or in contact96.4%
- 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 (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. 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
Held-out benchmark environment
0:000:08