BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 23:10 DiT-Flow 9:53 GR00T N1.7 9:34 MolmoAct 2 11:20 Pi 0.5 5:00
- Mean duration
- Rho 46.3 s DiT-Flow 19.8 s GR00T N1.7 19.1 s MolmoAct 2 22.7 s Pi 0.5 10.0 s
- Success
- Rho 0% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving96.7%Gripper engaged99.8%Contact force > 5 N82.0%Gripper engaged or in contact99.8% DiT-Flow Share of time manipulating, five definitionsJoints moving97.3%End-effector moving88.2%Gripper engaged50.8%Contact force > 5 N86.4%Gripper engaged or in contact91.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving98.7%End-effector moving89.3%Gripper engaged71.8%Contact force > 5 N91.4%Gripper engaged or in contact94.8% MolmoAct 2 Share of time manipulating, five definitionsJoints moving96.9%End-effector moving84.0%Gripper engaged71.2%Contact force > 5 N82.0%Gripper engaged or in contact93.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.8%Gripper engaged23.3%Contact force > 5 N89.7%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
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