BenchmarkPAW-GEN-10
Environmente10Clamp electrical component
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 17:25 DiT-Flow 10:50 GR00T N1.7 8:19 MolmoAct 2 17:44 Pi 0.5 6:19
- Mean duration
- Rho 34.8 s DiT-Flow 21.7 s GR00T N1.7 16.6 s MolmoAct 2 35.5 s Pi 0.5 12.6 s
- Success
- Rho 27% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 50% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.0%End-effector moving95.5%Gripper engaged91.1%Contact force > 5 N87.3%Gripper engaged or in contact95.9% DiT-Flow Share of time manipulating, five definitionsJoints moving85.0%End-effector moving66.3%Gripper engaged74.3%Contact force > 5 N62.4%Gripper engaged or in contact86.2% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.4%End-effector moving93.7%Gripper engaged84.4%Contact force > 5 N84.4%Gripper engaged or in contact93.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.1%End-effector moving92.9%Gripper engaged91.2%Contact force > 5 N93.5%Gripper engaged or in contact97.2% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.1%End-effector moving91.9%Gripper engaged72.6%Contact force > 5 N75.4%Gripper engaged or in contact89.2%
- 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
0:000:22