BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- 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 26:07 Claude Fable 5.2 (D10) 49:05 Claude Opus 5.5 (D10) 55:27 DiT-Flow 39:18 Gemini 4 Argon (D10) 90:32 GPT-6 Astra (D10) 56:47 GR00T N1.7 26:56 MolmoAct 2 31:29 Pi 0.5 41:12
- Mean duration
- Rho 52.2 s Claude Fable 5.2 (D10) 98.2 s Claude Opus 5.5 (D10) 110.9 s DiT-Flow 78.6 s Gemini 4 Argon (D10) 181.1 s GPT-6 Astra (D10) 113.6 s GR00T N1.7 53.9 s MolmoAct 2 63.0 s Pi 0.5 82.4 s
- Success
- Rho 0% Claude Fable 5.2 (D10) 87% Claude Opus 5.5 (D10) 73% DiT-Flow 0% Gemini 4 Argon (D10) 27% GPT-6 Astra (D10) 40% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.9%Gripper engaged45.9%Contact force > 5 N75.6%Gripper engaged or in contact87.5% Claude Fable 5.2 (D10) Share of time manipulating, five definitionsJoints moving81.2%End-effector moving57.3%Gripper engaged25.9%Contact force > 5 N50.7%Gripper engaged or in contact58.8% Claude Opus 5.5 (D10) Share of time manipulating, five definitionsJoints moving90.0%End-effector moving71.1%Gripper engaged53.5%Contact force > 5 N62.7%Gripper engaged or in contact80.2% DiT-Flow Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.8%Gripper engaged54.1%Contact force > 5 N79.3%Gripper engaged or in contact89.2% Gemini 4 Argon (D10) Share of time manipulating, five definitionsJoints moving57.7%End-effector moving39.2%Gripper engaged92.6%Contact force > 5 N84.9%Gripper engaged or in contact98.6% GPT-6 Astra (D10) Share of time manipulating, five definitionsJoints moving78.2%End-effector moving51.2%Gripper engaged33.8%Contact force > 5 N70.6%Gripper engaged or in contact78.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.5%End-effector moving97.3%Gripper engaged52.7%Contact force > 5 N64.7%Gripper engaged or in contact83.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving94.8%Gripper engaged51.8%Contact force > 5 N77.4%Gripper engaged or in contact90.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged47.3%Contact force > 5 N80.7%Gripper engaged or in contact88.6%
- 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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