BenchmarkPAW-GEN-10
Environmente09Open the toolbox with a screwdriver
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 13:16 DiT-Flow 14:14 GR00T N1.7 12:29 MolmoAct 2 8:04 Pi 0.5 10:51
- Mean duration
- Rho 26.5 s DiT-Flow 28.5 s GR00T N1.7 25.0 s MolmoAct 2 16.1 s Pi 0.5 21.7 s
- Success
- Rho 3% 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 moving99.5%Gripper engaged59.4%Contact force > 5 N87.2%Gripper engaged or in contact94.3% DiT-Flow Share of time manipulating, five definitionsJoints moving98.7%End-effector moving96.1%Gripper engaged57.1%Contact force > 5 N79.7%Gripper engaged or in contact91.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.2%Gripper engaged64.3%Contact force > 5 N87.8%Gripper engaged or in contact96.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving87.5%Gripper engaged20.7%Contact force > 5 N85.4%Gripper engaged or in contact86.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving98.9%End-effector moving96.9%Gripper engaged58.8%Contact force > 5 N85.8%Gripper engaged or in contact95.5%
- 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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