DiT-Flow

BenchmarkPAW-GEN-10

Episodes

30

Total duration

17:03

Mean duration

34.1 s

Success

7%

Manipulation density

98.3%Share of time manipulating, five definitionsJoints moving95.5%End-effector moving79.7%Gripper engaged78.4%Contact force > 5 N88.6%Gripper engaged or in contact98.3%

SPARC smoothness

-7.07Spectral 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.