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 6:19 Claude Fable 5.2 (D10) 80:36 Claude Opus 5.5 (D10) 91:26 DiT-Flow 10:50 Gemini 4 Argon (D10) 156:44 GPT-6 Astra (D10) 47:44 GR00T N1.7 8:19 MolmoAct 2 17:44 Rho 17:25
- Mean duration
- Pi 0.5 12.6 s Claude Fable 5.2 (D10) 161.2 s Claude Opus 5.5 (D10) 182.9 s DiT-Flow 21.7 s Gemini 4 Argon (D10) 313.5 s GPT-6 Astra (D10) 95.5 s GR00T N1.7 16.6 s MolmoAct 2 35.5 s Rho 34.8 s
- Success
- Pi 0.5 0% Claude Fable 5.2 (D10) 80% Claude Opus 5.5 (D10) 70% DiT-Flow 0% Gemini 4 Argon (D10) 3% GPT-6 Astra (D10) 7% GR00T N1.7 0% MolmoAct 2 50% Rho 27%
- Manipulation density
- Pi 0.5 Share of time manipulating, five definitionsJoints moving99.1%End-effector moving91.9%Gripper engaged72.6%Contact force > 5 N75.4%Gripper engaged or in contact89.2% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving85.7%End-effector moving66.5%Gripper engaged97.8%Contact force > 5 N51.9%Gripper engaged or in contact97.8% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving92.1%End-effector moving79.5%Gripper engaged98.6%Contact force > 5 N80.3%Gripper engaged or in contact98.6% DiT-Flow Share of time manipulating, five definitionsJoints moving85.0%End-effector moving66.3%Gripper engaged74.3%Contact force > 5 N62.4%Gripper engaged or in contact86.2% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving32.7%End-effector moving24.2%Gripper engaged14.9%Contact force > 5 N55.1%Gripper engaged or in contact59.6% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving73.3%End-effector moving52.4%Gripper engaged71.8%Contact force > 5 N92.6%Gripper engaged or in contact95.7% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.4%End-effector moving93.7%Gripper engaged84.4%Contact force > 5 N84.4%Gripper engaged or in contact93.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.1%End-effector moving92.9%Gripper engaged91.2%Contact force > 5 N93.5%Gripper engaged or in contact97.2% Rho Share of time manipulating, five definitionsJoints moving99.0%End-effector moving95.5%Gripper engaged91.1%Contact force > 5 N87.3%Gripper engaged or in contact95.9%
- 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
0:000:13