BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 2:52 DiT-Flow 8:54 GR00T N1.7 2:53 MolmoAct 2 4:18 Pi 0.5 5:38
- Mean duration
- Rho 5.7 s DiT-Flow 17.8 s GR00T N1.7 5.8 s MolmoAct 2 8.6 s Pi 0.5 11.3 s
- Success
- Rho 3% DiT-Flow 0% GR00T N1.7 3% MolmoAct 2 13% Pi 0.5 17%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.1%Gripper engaged71.5%Contact force > 5 N60.8%Gripper engaged or in contact79.9% DiT-Flow Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.3%Gripper engaged74.8%Contact force > 5 N46.0%Gripper engaged or in contact84.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged66.4%Contact force > 5 N59.8%Gripper engaged or in contact80.9% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged60.6%Contact force > 5 N55.4%Gripper engaged or in contact75.3% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged80.5%Contact force > 5 N46.3%Gripper engaged or in contact87.0%
- 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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