DiT-Flow

BenchmarkPAW-GEN-10

Episodes

30

Total duration

9:32

Mean duration

19.1 s

Success

27%

Manipulation density

68.5%Share of time manipulating, five definitionsJoints moving99.5%End-effector moving90.2%Gripper engaged0.0%Contact force > 5 N68.5%Gripper engaged or in contact68.5%

SPARC smoothness

-8.58Spectral 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.