BenchmarkPAW-GEN-10
Environmente08Place spray bottles upright, nozzle forward (bimanual handover)
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 25:47 DiT-Flow 10:21 GR00T N1.7 19:56 MolmoAct 2 19:36 Pi 0.5 9:01
- Mean duration
- Rho 51.6 s DiT-Flow 20.7 s GR00T N1.7 39.9 s MolmoAct 2 39.2 s Pi 0.5 18.0 s
- Success
- Rho 20% DiT-Flow 0% GR00T N1.7 10% MolmoAct 2 0% Pi 0.5 10%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged68.9%Contact force > 5 N65.7%Gripper engaged or in contact91.2% DiT-Flow Share of time manipulating, five definitionsJoints moving98.7%End-effector moving92.4%Gripper engaged40.8%Contact force > 5 N55.8%Gripper engaged or in contact68.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged68.8%Contact force > 5 N68.6%Gripper engaged or in contact89.2% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged68.6%Contact force > 5 N76.1%Gripper engaged or in contact91.0% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.4%Gripper engaged53.6%Contact force > 5 N69.5%Gripper engaged or in contact83.6%
- 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
0:000:50