BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- 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 18:31 Claude Fable 5.2 (D10) 96:02 Claude Opus 5.5 (D10) 139:59 DiT-Flow 18:56 Gemini 4 Argon (D10) 79:30 GPT-6 Astra (D10) 83:52 GR00T N1.7 24:04 MolmoAct 2 15:41 Rho 35:13
- Mean duration
- Pi 0.5 37.0 s Claude Fable 5.2 (D10) 192.1 s Claude Opus 5.5 (D10) 280.0 s DiT-Flow 37.9 s Gemini 4 Argon (D10) 159.0 s GPT-6 Astra (D10) 167.7 s GR00T N1.7 48.1 s MolmoAct 2 31.4 s Rho 70.4 s
- Success
- Pi 0.5 0% Claude Fable 5.2 (D10) 77% Claude Opus 5.5 (D10) 57% DiT-Flow 3% Gemini 4 Argon (D10) 80% GPT-6 Astra (D10) 0% GR00T N1.7 3% MolmoAct 2 0% Rho 27%
- Manipulation density
- Pi 0.5 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving91.4%Gripper engaged80.2%Contact force > 5 N77.5%Gripper engaged or in contact94.4% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving61.3%End-effector moving38.8%Gripper engaged86.1%Contact force > 5 N89.8%Gripper engaged or in contact98.6% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving74.5%End-effector moving45.9%Gripper engaged91.6%Contact force > 5 N53.9%Gripper engaged or in contact95.8% DiT-Flow Share of time manipulating, five definitionsJoints moving95.8%End-effector moving73.6%Gripper engaged71.3%Contact force > 5 N71.2%Gripper engaged or in contact88.5% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving87.3%End-effector moving69.2%Gripper engaged100.0%Contact force > 5 N75.8%Gripper engaged or in contact100.0% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving72.3%End-effector moving49.0%Gripper engaged84.1%Contact force > 5 N91.5%Gripper engaged or in contact95.8% GR00T N1.7 Share of time manipulating, five definitionsJoints moving96.2%End-effector moving75.0%Gripper engaged80.2%Contact force > 5 N79.1%Gripper engaged or in contact93.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving92.4%Gripper engaged73.5%Contact force > 5 N74.7%Gripper engaged or in contact91.1% Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving92.3%Gripper engaged75.5%Contact force > 5 N77.6%Gripper engaged or in contact90.9%
- 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
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