BenchmarkPAW-GEN-10
Environmente09Open the toolbox with a screwdriver
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 16:25 DiT-Flow 17:03 GR00T N1.7 13:05 MolmoAct 2 12:54 Pi 0.5 13:58
- Mean duration
- Rho 32.8 s DiT-Flow 34.1 s GR00T N1.7 26.2 s MolmoAct 2 25.8 s Pi 0.5 27.9 s
- Success
- Rho 43% DiT-Flow 7% GR00T N1.7 17% MolmoAct 2 33% Pi 0.5 7%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged71.9%Contact force > 5 N88.6%Gripper engaged or in contact95.3% DiT-Flow Share of time manipulating, five definitionsJoints moving95.5%End-effector moving79.7%Gripper engaged78.4%Contact force > 5 N88.6%Gripper engaged or in contact98.3% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.2%Gripper engaged70.5%Contact force > 5 N86.6%Gripper engaged or in contact97.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.1%Gripper engaged63.1%Contact force > 5 N89.8%Gripper engaged or in contact95.4% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.4%Gripper engaged73.9%Contact force > 5 N90.7%Gripper engaged or in contact97.9%
- 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
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