BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 8:37 DiT-Flow 10:17 GR00T N1.7 5:20 MolmoAct 2 8:53 Pi 0.5 12:49
- Mean duration
- Rho 17.2 s DiT-Flow 20.6 s GR00T N1.7 10.7 s MolmoAct 2 17.8 s Pi 0.5 25.6 s
- Success
- Rho 0% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.3%End-effector moving93.3%Gripper engaged50.3%Contact force > 5 N72.9%Gripper engaged or in contact84.5% DiT-Flow Share of time manipulating, five definitionsJoints moving93.9%End-effector moving58.1%Gripper engaged7.7%Contact force > 5 N61.9%Gripper engaged or in contact65.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving94.6%Gripper engaged25.9%Contact force > 5 N78.9%Gripper engaged or in contact81.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving93.7%Gripper engaged91.7%Contact force > 5 N84.3%Gripper engaged or in contact97.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving94.6%Gripper engaged70.9%Contact force > 5 N64.4%Gripper engaged or in contact92.1%
- SPARC smoothness
- Rho Spectral 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. DiT-Flow Spectral 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. GR00T N1.7 Spectral 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. MolmoAct 2 Spectral 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. Pi 0.5 Spectral 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.
Episode
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