BenchmarkPAW-GEN-10
Environmente07Place loaded boxes in container (bimanual)
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 21:38 DiT-Flow 12:50 GR00T N1.7 13:52 MolmoAct 2 11:34 Pi 0.5 10:41
- Mean duration
- Rho 43.3 s DiT-Flow 25.6 s GR00T N1.7 27.7 s MolmoAct 2 23.1 s Pi 0.5 21.4 s
- Success
- Rho 0% DiT-Flow 0% GR00T N1.7 17% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged65.5%Contact force > 5 N67.7%Gripper engaged or in contact83.5% DiT-Flow Share of time manipulating, five definitionsJoints moving98.5%End-effector moving90.6%Gripper engaged31.5%Contact force > 5 N59.1%Gripper engaged or in contact62.1% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.3%Gripper engaged64.2%Contact force > 5 N78.3%Gripper engaged or in contact87.6% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged58.6%Contact force > 5 N78.2%Gripper engaged or in contact84.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving92.6%Gripper engaged63.5%Contact force > 5 N67.3%Gripper engaged or in contact89.3%
- 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
Held-out benchmark environment
0:000:49