BenchmarkPAW-GEN-10
Environmente02Datum-corner alignment
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 9:01 DiT-Flow 5:56 GR00T N1.7 6:28 MolmoAct 2 6:23 Pi 0.5 5:56
- Mean duration
- Rho 18.0 s DiT-Flow 11.9 s GR00T N1.7 12.9 s MolmoAct 2 12.8 s Pi 0.5 11.9 s
- Success
- Rho 33% DiT-Flow 3% GR00T N1.7 0% MolmoAct 2 10% Pi 0.5 7%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.3%End-effector moving97.2%Gripper engaged0.0%Contact force > 5 N73.2%Gripper engaged or in contact73.2% DiT-Flow Share of time manipulating, five definitionsJoints moving98.1%End-effector moving94.5%Gripper engaged0.0%Contact force > 5 N62.4%Gripper engaged or in contact62.4% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving93.6%Gripper engaged0.0%Contact force > 5 N73.4%Gripper engaged or in contact73.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.6%Gripper engaged0.2%Contact force > 5 N67.4%Gripper engaged or in contact67.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving96.9%Gripper engaged0.0%Contact force > 5 N66.6%Gripper engaged or in contact66.6%
- 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
Held-out benchmark environment
0:000:14