BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 15:18 DiT-Flow 27:40 GR00T N1.7 23:20 MolmoAct 2 15:04 Pi 0.5 41:03
- Mean duration
- Rho 30.6 s DiT-Flow 55.3 s GR00T N1.7 46.7 s MolmoAct 2 30.1 s Pi 0.5 82.1 s
- Success
- Rho 7% DiT-Flow 7% GR00T N1.7 3% MolmoAct 2 0% Pi 0.5 3%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving93.9%Gripper engaged48.9%Contact force > 5 N82.5%Gripper engaged or in contact89.7% DiT-Flow Share of time manipulating, five definitionsJoints moving90.4%End-effector moving80.5%Gripper engaged65.8%Contact force > 5 N83.2%Gripper engaged or in contact94.3% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.0%Gripper engaged63.4%Contact force > 5 N84.7%Gripper engaged or in contact96.6% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.1%Gripper engaged68.5%Contact force > 5 N83.0%Gripper engaged or in contact94.2% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving98.1%Gripper engaged53.8%Contact force > 5 N75.9%Gripper engaged or in contact86.7%
- 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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