BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 3:22 DiT-Flow 6:18 GR00T N1.7 4:36 MolmoAct 2 6:40 Pi 0.5 6:36
- Mean duration
- Rho 6.7 s DiT-Flow 12.6 s GR00T N1.7 9.2 s MolmoAct 2 13.3 s Pi 0.5 13.2 s
- Success
- Rho 13% DiT-Flow 23% GR00T N1.7 7% MolmoAct 2 30% Pi 0.5 13%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged70.6%Contact force > 5 N61.1%Gripper engaged or in contact82.3% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.7%Gripper engaged84.8%Contact force > 5 N48.8%Gripper engaged or in contact92.0% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged72.1%Contact force > 5 N63.1%Gripper engaged or in contact86.2% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged71.3%Contact force > 5 N53.1%Gripper engaged or in contact81.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.6%Gripper engaged82.5%Contact force > 5 N45.3%Gripper engaged or in contact89.4%
- 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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