BenchmarkPAW-GEN-10
Environmente08Place spray bottles upright, nozzle forward (bimanual handover)
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 21:59 DiT-Flow 12:35 GR00T N1.7 20:27 MolmoAct 2 14:43 Pi 0.5 13:07
- Mean duration
- Rho 44.0 s DiT-Flow 25.2 s GR00T N1.7 40.9 s MolmoAct 2 29.4 s Pi 0.5 26.2 s
- Success
- Rho 17% DiT-Flow 7% GR00T N1.7 17% MolmoAct 2 13% Pi 0.5 20%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged68.0%Contact force > 5 N63.5%Gripper engaged or in contact89.2% DiT-Flow Share of time manipulating, five definitionsJoints moving97.5%End-effector moving95.1%Gripper engaged51.6%Contact force > 5 N58.7%Gripper engaged or in contact74.8% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged70.5%Contact force > 5 N67.6%Gripper engaged or in contact89.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged66.5%Contact force > 5 N69.1%Gripper engaged or in contact86.2% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.4%Gripper engaged60.5%Contact force > 5 N67.2%Gripper engaged or in contact84.8%
- 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
0:000:10