BenchmarkPAW-GEN-10
Environmente06Put tools in standing toolbox
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 2:58 DiT-Flow 6:01 GR00T N1.7 7:03 MolmoAct 2 10:10 Pi 0.5 10:37
- Mean duration
- Rho 5.9 s DiT-Flow 12.0 s GR00T N1.7 14.1 s MolmoAct 2 20.3 s Pi 0.5 21.2 s
- Success
- Rho 0% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 3%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.3%Gripper engaged13.1%Contact force > 5 N72.8%Gripper engaged or in contact76.8% DiT-Flow Share of time manipulating, five definitionsJoints moving97.8%End-effector moving94.3%Gripper engaged28.9%Contact force > 5 N74.4%Gripper engaged or in contact83.1% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.8%Gripper engaged31.4%Contact force > 5 N79.9%Gripper engaged or in contact87.3% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.3%Gripper engaged31.3%Contact force > 5 N90.5%Gripper engaged or in contact93.0% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged38.8%Contact force > 5 N81.7%Gripper engaged or in contact86.9%
- 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
0:000:04