BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 6:07 DiT-Flow 8:23 GR00T N1.7 5:11 MolmoAct 2 6:26 Pi 0.5 7:05
- Mean duration
- Rho 12.2 s DiT-Flow 16.8 s GR00T N1.7 10.4 s MolmoAct 2 12.9 s Pi 0.5 14.2 s
- Success
- Rho 70% DiT-Flow 60% GR00T N1.7 33% MolmoAct 2 77% Pi 0.5 93%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged82.0%Contact force > 5 N65.8%Gripper engaged or in contact88.5% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged85.5%Contact force > 5 N65.9%Gripper engaged or in contact92.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged77.0%Contact force > 5 N73.5%Gripper engaged or in contact89.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.5%Gripper engaged75.7%Contact force > 5 N64.5%Gripper engaged or in contact85.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged79.2%Contact force > 5 N61.2%Gripper engaged or in contact89.7%
- 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
Loading the replay…
0:000:12