BenchmarkPAW-GEN-10
Environmente06Put tools in standing toolbox
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 2:42 DiT-Flow 5:15 GR00T N1.7 4:59 MolmoAct 2 4:46 Pi 0.5 6:18
- Mean duration
- Rho 5.4 s DiT-Flow 10.5 s GR00T N1.7 10.0 s MolmoAct 2 9.5 s Pi 0.5 12.6 s
- Success
- Rho 0% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.6%Gripper engaged16.2%Contact force > 5 N70.6%Gripper engaged or in contact73.4% DiT-Flow Share of time manipulating, five definitionsJoints moving98.8%End-effector moving95.5%Gripper engaged31.5%Contact force > 5 N62.7%Gripper engaged or in contact72.9% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.8%Gripper engaged47.3%Contact force > 5 N77.9%Gripper engaged or in contact89.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving96.1%Gripper engaged30.4%Contact force > 5 N80.3%Gripper engaged or in contact86.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.9%Gripper engaged34.3%Contact force > 5 N79.5%Gripper engaged or in contact86.2%
- 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
0:000:03