BenchmarkPAW-GEN-10
Environmente10Clamp electrical component
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 8:13 DiT-Flow 7:48 GR00T N1.7 7:33 MolmoAct 2 6:19 Pi 0.5 7:50
- Mean duration
- Rho 16.4 s DiT-Flow 15.6 s GR00T N1.7 15.1 s MolmoAct 2 12.6 s Pi 0.5 15.7 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 moving99.7%End-effector moving96.7%Gripper engaged79.0%Contact force > 5 N74.3%Gripper engaged or in contact91.5% DiT-Flow Share of time manipulating, five definitionsJoints moving92.5%End-effector moving79.0%Gripper engaged39.8%Contact force > 5 N62.0%Gripper engaged or in contact70.9% GR00T N1.7 Share of time manipulating, five definitionsJoints moving97.9%End-effector moving87.0%Gripper engaged80.9%Contact force > 5 N72.0%Gripper engaged or in contact91.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.9%End-effector moving89.0%Gripper engaged70.6%Contact force > 5 N73.8%Gripper engaged or in contact87.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving95.1%End-effector moving86.8%Gripper engaged79.7%Contact force > 5 N73.8%Gripper engaged or in contact92.3%
- 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