BenchmarkPAW-GEN-10
Environmente09Open the toolbox with a screwdriver
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 14:09 DiT-Flow 13:59 GR00T N1.7 12:49 MolmoAct 2 9:32 Pi 0.5 10:39
- Mean duration
- Rho 28.3 s DiT-Flow 28.0 s GR00T N1.7 25.6 s MolmoAct 2 19.1 s Pi 0.5 21.3 s
- Success
- Rho 0% DiT-Flow 3% GR00T N1.7 3% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.8%Gripper engaged28.3%Contact force > 5 N81.2%Gripper engaged or in contact86.0% DiT-Flow Share of time manipulating, five definitionsJoints moving98.8%End-effector moving94.1%Gripper engaged56.2%Contact force > 5 N77.3%Gripper engaged or in contact92.1% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.3%Gripper engaged67.7%Contact force > 5 N83.7%Gripper engaged or in contact95.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving91.7%Gripper engaged24.5%Contact force > 5 N88.1%Gripper engaged or in contact92.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.5%End-effector moving96.9%Gripper engaged52.3%Contact force > 5 N86.3%Gripper engaged or in contact95.4%
- 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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