BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 5:32 DiT-Flow 5:40 GR00T N1.7 4:27 MolmoAct 2 6:03 Pi 0.5 6:30
- Mean duration
- Rho 11.1 s DiT-Flow 11.3 s GR00T N1.7 8.9 s MolmoAct 2 12.1 s Pi 0.5 13.0 s
- Success
- Rho 60% DiT-Flow 53% GR00T N1.7 7% MolmoAct 2 67% Pi 0.5 90%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged81.1%Contact force > 5 N65.0%Gripper engaged or in contact87.0% DiT-Flow Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.3%Gripper engaged79.5%Contact force > 5 N60.4%Gripper engaged or in contact88.7% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged78.9%Contact force > 5 N68.6%Gripper engaged or in contact88.2% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged74.7%Contact force > 5 N60.6%Gripper engaged or in contact84.4% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged78.6%Contact force > 5 N61.7%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
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