DiT-Flow

BenchmarkPAW-GEN-10

Episodes

30

Total duration

12:57

Mean duration

25.9 s

Success

0%

Manipulation density

70.1%Share of time manipulating, five definitionsJoints moving91.0%End-effector moving66.0%Gripper engaged32.2%Contact force > 5 N61.7%Gripper engaged or in contact70.1%

SPARC smoothness

-4.61Spectral 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.