BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 11:41 DiT-Flow 12:57 GR00T N1.7 10:58 MolmoAct 2 9:31 Pi 0.5 18:19
- Mean duration
- Rho 23.4 s DiT-Flow 25.9 s GR00T N1.7 21.9 s MolmoAct 2 19.0 s Pi 0.5 36.6 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 moving99.0%End-effector moving89.2%Gripper engaged58.0%Contact force > 5 N69.7%Gripper engaged or in contact88.2% DiT-Flow Share of time manipulating, five definitionsJoints moving91.0%End-effector moving66.0%Gripper engaged32.2%Contact force > 5 N61.7%Gripper engaged or in contact70.1% GR00T N1.7 Share of time manipulating, five definitionsJoints moving97.4%End-effector moving84.0%Gripper engaged58.4%Contact force > 5 N80.9%Gripper engaged or in contact88.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving94.9%Gripper engaged57.6%Contact force > 5 N81.1%Gripper engaged or in contact89.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving96.1%End-effector moving84.7%Gripper engaged80.1%Contact force > 5 N57.7%Gripper engaged or in contact92.6%
- 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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