BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 25:52 DiT-Flow 34:13 GR00T N1.7 30:39 MolmoAct 2 21:03 Pi 0.5 32:04
- Mean duration
- Rho 51.7 s DiT-Flow 68.4 s GR00T N1.7 61.3 s MolmoAct 2 42.1 s Pi 0.5 64.1 s
- Success
- Rho 3% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.0%Gripper engaged53.6%Contact force > 5 N82.9%Gripper engaged or in contact90.7% DiT-Flow Share of time manipulating, five definitionsJoints moving98.5%End-effector moving94.7%Gripper engaged56.0%Contact force > 5 N86.4%Gripper engaged or in contact94.0% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.3%Gripper engaged68.4%Contact force > 5 N74.1%Gripper engaged or in contact95.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving94.6%Gripper engaged55.9%Contact force > 5 N89.8%Gripper engaged or in contact95.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged48.7%Contact force > 5 N89.1%Gripper engaged or in contact93.6%
- 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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