DiT-Flow

BenchmarkPAW-GEN-10

Episodes

30

Total duration

12:20

Mean duration

24.7 s

Success

23%

Manipulation density

93.3%Share of time manipulating, five definitionsJoints moving87.2%End-effector moving70.6%Gripper engaged82.1%Contact force > 5 N72.7%Gripper engaged or in contact93.3%

SPARC smoothness

-7.65Spectral 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.