DiT-Flow

BenchmarkPAW-GEN-10

Episodes

30

Total duration

17:18

Mean duration

34.6 s

Success

30%

Manipulation density

98.0%Share of time manipulating, five definitionsJoints moving96.8%End-effector moving87.2%Gripper engaged75.6%Contact force > 5 N88.1%Gripper engaged or in contact98.0%

SPARC smoothness

-7.91Spectral 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.