BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 35:31 DiT-Flow 24:53 GR00T N1.7 25:00 MolmoAct 2 26:35 Pi 0.5 32:17
- Mean duration
- Rho 71.0 s DiT-Flow 49.8 s GR00T N1.7 50.0 s MolmoAct 2 53.2 s Pi 0.5 64.6 s
- Success
- Rho 30% DiT-Flow 7% GR00T N1.7 3% MolmoAct 2 30% Pi 0.5 13%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.2%End-effector moving90.3%Gripper engaged78.2%Contact force > 5 N71.8%Gripper engaged or in contact88.9% DiT-Flow Share of time manipulating, five definitionsJoints moving97.8%End-effector moving76.3%Gripper engaged80.9%Contact force > 5 N75.9%Gripper engaged or in contact92.9% GR00T N1.7 Share of time manipulating, five definitionsJoints moving96.5%End-effector moving78.3%Gripper engaged82.0%Contact force > 5 N77.7%Gripper engaged or in contact93.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.5%End-effector moving87.4%Gripper engaged77.5%Contact force > 5 N82.0%Gripper engaged or in contact94.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving85.6%Gripper engaged84.8%Contact force > 5 N82.2%Gripper engaged or in contact95.8%
- 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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