BenchmarkPAW-GEN-10
Environmente07Place loaded boxes in container (bimanual)
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 21:19 DiT-Flow 19:37 GR00T N1.7 12:55 MolmoAct 2 13:56 Pi 0.5 22:05
- Mean duration
- Rho 42.6 s DiT-Flow 39.2 s GR00T N1.7 25.8 s MolmoAct 2 27.9 s Pi 0.5 44.2 s
- Success
- Rho 10% DiT-Flow 3% GR00T N1.7 3% MolmoAct 2 3% Pi 0.5 10%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged65.0%Contact force > 5 N63.7%Gripper engaged or in contact83.6% DiT-Flow Share of time manipulating, five definitionsJoints moving92.7%End-effector moving75.5%Gripper engaged59.9%Contact force > 5 N60.7%Gripper engaged or in contact75.2% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.7%Gripper engaged62.9%Contact force > 5 N76.8%Gripper engaged or in contact86.9% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.1%Gripper engaged59.6%Contact force > 5 N77.9%Gripper engaged or in contact85.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving97.6%End-effector moving92.2%Gripper engaged70.5%Contact force > 5 N67.4%Gripper engaged or in contact90.7%
- 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
0:000:41