BenchmarkPAW-GEN-10
Environmente09Open the toolbox with a screwdriver
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 16:58 DiT-Flow 17:18 GR00T N1.7 15:08 MolmoAct 2 13:46 Pi 0.5 17:37
- Mean duration
- Rho 33.9 s DiT-Flow 34.6 s GR00T N1.7 30.3 s MolmoAct 2 27.5 s Pi 0.5 35.2 s
- Success
- Rho 50% DiT-Flow 30% GR00T N1.7 20% MolmoAct 2 33% Pi 0.5 7%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged69.7%Contact force > 5 N88.8%Gripper engaged or in contact95.2% DiT-Flow Share of time manipulating, five definitionsJoints moving96.8%End-effector moving87.2%Gripper engaged75.6%Contact force > 5 N88.1%Gripper engaged or in contact98.0% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.4%End-effector moving97.7%Gripper engaged71.9%Contact force > 5 N81.7%Gripper engaged or in contact97.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.0%Gripper engaged65.0%Contact force > 5 N90.1%Gripper engaged or in contact96.3% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.5%End-effector moving96.2%Gripper engaged77.8%Contact force > 5 N83.8%Gripper engaged or in contact97.7%
- 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
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