BenchmarkPAW-GEN-10
Environmente07Place loaded boxes in container (bimanual)
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 19:57 DiT-Flow 17:47 GR00T N1.7 16:35 MolmoAct 2 18:20 Pi 0.5 17:36
- Mean duration
- Rho 39.9 s DiT-Flow 35.6 s GR00T N1.7 33.2 s MolmoAct 2 36.7 s Pi 0.5 35.2 s
- Success
- Rho 67% DiT-Flow 33% GR00T N1.7 23% MolmoAct 2 33% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged65.2%Contact force > 5 N73.2%Gripper engaged or in contact81.6% DiT-Flow Share of time manipulating, five definitionsJoints moving99.3%End-effector moving90.7%Gripper engaged70.6%Contact force > 5 N72.7%Gripper engaged or in contact88.8% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged64.9%Contact force > 5 N78.2%Gripper engaged or in contact88.3% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged63.5%Contact force > 5 N82.9%Gripper engaged or in contact87.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.0%Gripper engaged69.0%Contact force > 5 N73.8%Gripper engaged or in contact88.7%
- 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
Held-out benchmark environment
0:000:42