BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 6:31 DiT-Flow 23:20 GR00T N1.7 21:41 MolmoAct 2 13:18 Pi 0.5 27:44
- Mean duration
- Rho 13.0 s DiT-Flow 46.7 s GR00T N1.7 43.4 s MolmoAct 2 26.6 s Pi 0.5 55.5 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 moving99.9%End-effector moving94.4%Gripper engaged42.0%Contact force > 5 N84.8%Gripper engaged or in contact89.0% DiT-Flow Share of time manipulating, five definitionsJoints moving88.3%End-effector moving75.0%Gripper engaged59.3%Contact force > 5 N77.0%Gripper engaged or in contact93.2% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.2%End-effector moving91.3%Gripper engaged62.0%Contact force > 5 N78.7%Gripper engaged or in contact93.2% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving94.4%Gripper engaged58.4%Contact force > 5 N82.9%Gripper engaged or in contact90.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.1%End-effector moving96.1%Gripper engaged39.8%Contact force > 5 N71.7%Gripper engaged or in contact79.6%
- 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
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