BenchmarkPAW-GEN-10
Environmente09Open the toolbox with a screwdriver
- Episodes
- Rho 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 Pi 0.5 30
- Total duration
- Rho 21:59 Claude Fable 5.2 (D10) 139:28 Claude Opus 5.5 (D10) 104:32 DiT-Flow 15:04 Gemini 4 Argon (D10) 59:28 GPT-6 Astra (D10) 53:15 GR00T N1.7 19:16 MolmoAct 2 11:57 Pi 0.5 7:35
- Mean duration
- Rho 44.0 s Claude Fable 5.2 (D10) 278.9 s Claude Opus 5.5 (D10) 209.1 s DiT-Flow 30.1 s Gemini 4 Argon (D10) 118.9 s GPT-6 Astra (D10) 106.5 s GR00T N1.7 38.5 s MolmoAct 2 23.9 s Pi 0.5 15.2 s
- Success
- Rho 20% Claude Fable 5.2 (D10) 0% Claude Opus 5.5 (D10) 7% DiT-Flow 0% Gemini 4 Argon (D10) 0% GPT-6 Astra (D10) 0% GR00T N1.7 10% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.3%Gripper engaged75.3%Contact force > 5 N83.6%Gripper engaged or in contact96.9% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving86.8%End-effector moving63.5%Gripper engaged74.4%Contact force > 5 N40.9%Gripper engaged or in contact85.4% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving85.4%End-effector moving63.9%Gripper engaged58.7%Contact force > 5 N71.5%Gripper engaged or in contact84.9% DiT-Flow Share of time manipulating, five definitionsJoints moving97.6%End-effector moving86.3%Gripper engaged48.5%Contact force > 5 N76.4%Gripper engaged or in contact95.1% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving86.9%End-effector moving74.2%Gripper engaged59.6%Contact force > 5 N68.8%Gripper engaged or in contact86.6% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving83.4%End-effector moving62.7%Gripper engaged52.4%Contact force > 5 N47.1%Gripper engaged or in contact67.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving97.2%Gripper engaged63.0%Contact force > 5 N76.0%Gripper engaged or in contact95.0% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving90.2%Gripper engaged42.6%Contact force > 5 N88.2%Gripper engaged or in contact93.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged48.6%Contact force > 5 N87.7%Gripper engaged or in contact94.5%
- SPARC smoothness
- 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. 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. 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.
Episode
Loading the replay…
0:001:08