BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- 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 6:54 Claude Fable 5.2 (D10) 27:00 Claude Opus 5.5 (D10) 26:03 DiT-Flow 7:19 Gemini 4 Argon (D10) 19:45 GPT-6 Astra (D10) 29:21 GR00T N1.7 5:37 MolmoAct 2 5:54 Rho 6:32
- Mean duration
- Pi 0.5 13.8 s Claude Fable 5.2 (D10) 54.0 s Claude Opus 5.5 (D10) 52.1 s DiT-Flow 14.6 s Gemini 4 Argon (D10) 39.5 s GPT-6 Astra (D10) 58.7 s GR00T N1.7 11.2 s MolmoAct 2 11.8 s Rho 13.1 s
- Success
- Pi 0.5 90% Claude Fable 5.2 (D10) 87% Claude Opus 5.5 (D10) 97% DiT-Flow 87% Gemini 4 Argon (D10) 100% GPT-6 Astra (D10) 73% GR00T N1.7 53% MolmoAct 2 57% Rho 90%
- Manipulation density
- Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged78.6%Contact force > 5 N54.8%Gripper engaged or in contact88.0% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving85.7%End-effector moving64.8%Gripper engaged53.7%Contact force > 5 N39.4%Gripper engaged or in contact71.7% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving94.1%End-effector moving84.2%Gripper engaged65.3%Contact force > 5 N62.1%Gripper engaged or in contact81.6% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged78.1%Contact force > 5 N50.7%Gripper engaged or in contact86.5% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving90.0%End-effector moving80.6%Gripper engaged63.9%Contact force > 5 N81.7%Gripper engaged or in contact90.5% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving81.2%End-effector moving62.8%Gripper engaged55.9%Contact force > 5 N75.0%Gripper engaged or in contact80.9% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged79.8%Contact force > 5 N77.9%Gripper engaged or in contact91.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving99.1%Gripper engaged74.5%Contact force > 5 N64.1%Gripper engaged or in contact85.5% Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.6%Gripper engaged80.1%Contact force > 5 N60.0%Gripper engaged or in contact89.3%
- 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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