DiT-Flow

BenchmarkPAW-GEN-10

Episodes

30

Total duration

20:35

Mean duration

41.2 s

Success

30%

Manipulation density

96.7%Share of time manipulating, five definitionsJoints moving97.1%End-effector moving86.6%Gripper engaged76.4%Contact force > 5 N83.7%Gripper engaged or in contact96.7%

SPARC smoothness

-8.21Spectral 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.