BenchmarkPAW-GEN-10
Environmente02Datum-corner alignment
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 10:24 DiT-Flow 7:47 GR00T N1.7 8:02 MolmoAct 2 6:41 Pi 0.5 7:03
- Mean duration
- Rho 20.8 s DiT-Flow 15.6 s GR00T N1.7 16.1 s MolmoAct 2 13.4 s Pi 0.5 14.1 s
- Success
- Rho 60% DiT-Flow 20% GR00T N1.7 0% MolmoAct 2 60% Pi 0.5 57%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.4%Gripper engaged0.0%Contact force > 5 N74.0%Gripper engaged or in contact74.0% DiT-Flow Share of time manipulating, five definitionsJoints moving99.3%End-effector moving86.7%Gripper engaged0.0%Contact force > 5 N72.9%Gripper engaged or in contact72.9% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving96.5%Gripper engaged0.0%Contact force > 5 N77.5%Gripper engaged or in contact77.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving96.1%Gripper engaged0.0%Contact force > 5 N72.2%Gripper engaged or in contact72.2% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving96.4%Gripper engaged0.0%Contact force > 5 N70.7%Gripper engaged or in contact70.7%
- 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
0:000:22