BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- 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 12:51 Claude Fable 5.2 (D10) 103:21 Claude Opus 5.5 (D10) 109:40 DiT-Flow 9:23 Gemini 4 Argon (D10) 128:13 GPT-6 Astra (D10) 47:55 GR00T N1.7 13:49 MolmoAct 2 13:47 Pi 0.5 24:32
- Mean duration
- Rho 25.7 s Claude Fable 5.2 (D10) 206.7 s Claude Opus 5.5 (D10) 219.3 s DiT-Flow 18.8 s Gemini 4 Argon (D10) 256.4 s GPT-6 Astra (D10) 95.8 s GR00T N1.7 27.6 s MolmoAct 2 27.6 s Pi 0.5 49.1 s
- Success
- Rho 0% Claude Fable 5.2 (D10) 43% Claude Opus 5.5 (D10) 13% DiT-Flow 0% Gemini 4 Argon (D10) 47% GPT-6 Astra (D10) 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.2%Gripper engaged68.4%Contact force > 5 N72.8%Gripper engaged or in contact88.2% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving66.0%End-effector moving38.5%Gripper engaged86.3%Contact force > 5 N85.3%Gripper engaged or in contact97.7% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving67.7%End-effector moving38.6%Gripper engaged88.2%Contact force > 5 N51.9%Gripper engaged or in contact92.8% DiT-Flow Share of time manipulating, five definitionsJoints moving97.5%End-effector moving85.2%Gripper engaged19.4%Contact force > 5 N56.0%Gripper engaged or in contact61.5% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving78.4%End-effector moving62.2%Gripper engaged100.0%Contact force > 5 N81.2%Gripper engaged or in contact100.0% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving62.2%End-effector moving40.8%Gripper engaged67.5%Contact force > 5 N86.2%Gripper engaged or in contact89.8% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.9%Gripper engaged77.9%Contact force > 5 N76.9%Gripper engaged or in contact93.3% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.2%End-effector moving84.5%Gripper engaged62.7%Contact force > 5 N68.2%Gripper engaged or in contact85.1% Pi 0.5 Share of time manipulating, five definitionsJoints moving98.2%End-effector moving83.9%Gripper engaged83.5%Contact force > 5 N61.1%Gripper engaged or in contact91.3%
- 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
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