BenchmarkPAW-GEN-10
Environmente02Datum-corner alignment
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 9:21 DiT-Flow 5:05 GR00T N1.7 6:04 MolmoAct 2 6:07 Pi 0.5 4:58
- Mean duration
- Rho 18.7 s DiT-Flow 10.2 s GR00T N1.7 12.1 s MolmoAct 2 12.2 s Pi 0.5 9.9 s
- Success
- Rho 37% DiT-Flow 0% GR00T N1.7 7% MolmoAct 2 7% Pi 0.5 7%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving96.6%Gripper engaged0.0%Contact force > 5 N71.9%Gripper engaged or in contact71.9% DiT-Flow Share of time manipulating, five definitionsJoints moving98.4%End-effector moving89.9%Gripper engaged0.0%Contact force > 5 N71.5%Gripper engaged or in contact71.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving94.4%Gripper engaged0.0%Contact force > 5 N81.9%Gripper engaged or in contact81.9% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving93.8%Gripper engaged0.0%Contact force > 5 N74.7%Gripper engaged or in contact74.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.3%Gripper engaged0.0%Contact force > 5 N74.4%Gripper engaged or in contact74.4%
- 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
Held-out benchmark environment
0:000:14