BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 14:43 DiT-Flow 24:13 GR00T N1.7 14:35 MolmoAct 2 17:19 Pi 0.5 22:23
- Mean duration
- Rho 29.4 s DiT-Flow 48.4 s GR00T N1.7 29.2 s MolmoAct 2 34.6 s Pi 0.5 44.8 s
- Success
- Rho 0% DiT-Flow 0% GR00T N1.7 3% MolmoAct 2 3% Pi 0.5 10%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.9%Gripper engaged99.7%Contact force > 5 N85.0%Gripper engaged or in contact99.7% DiT-Flow Share of time manipulating, five definitionsJoints moving97.2%End-effector moving86.9%Gripper engaged48.8%Contact force > 5 N84.7%Gripper engaged or in contact90.4% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving91.4%Gripper engaged52.5%Contact force > 5 N87.9%Gripper engaged or in contact90.3% MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.8%End-effector moving93.8%Gripper engaged59.1%Contact force > 5 N91.5%Gripper engaged or in contact94.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.0%Gripper engaged60.4%Contact force > 5 N86.9%Gripper engaged or in contact94.9%
- 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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