BenchmarkPAW-GEN-10
Environmente06Put tools in standing toolbox
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 12:54 DiT-Flow 8:15 GR00T N1.7 12:29 MolmoAct 2 13:51 Pi 0.5 13:43
- Mean duration
- Rho 25.8 s DiT-Flow 16.5 s GR00T N1.7 25.0 s MolmoAct 2 27.7 s Pi 0.5 27.4 s
- Success
- Rho 3% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 3% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.6%Gripper engaged44.5%Contact force > 5 N78.6%Gripper engaged or in contact86.2% DiT-Flow Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.8%Gripper engaged35.6%Contact force > 5 N81.2%Gripper engaged or in contact89.1% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.9%Gripper engaged41.7%Contact force > 5 N77.4%Gripper engaged or in contact84.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.0%Gripper engaged36.1%Contact force > 5 N83.5%Gripper engaged or in contact89.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged30.0%Contact force > 5 N78.9%Gripper engaged or in contact86.2%
- 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
0:000:03