MolmoAct 2

BenchmarkPAW-GEN-10

Episodes

30

Total duration

7:44

Mean duration

15.5 s

Success

73%

Manipulation density

66.3%Share of time manipulating, five definitionsJoints moving99.9%End-effector moving96.5%Gripper engaged0.0%Contact force > 5 N66.3%Gripper engaged or in contact66.3%

SPARC smoothness

-5.22Spectral 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.