BenchmarkPAW-GEN-10
Environmente06Put tools in standing toolbox
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 15:07 DiT-Flow 16:00 GR00T N1.7 12:57 MolmoAct 2 14:19 Pi 0.5 20:05
- Mean duration
- Rho 30.2 s DiT-Flow 32.0 s GR00T N1.7 25.9 s MolmoAct 2 28.6 s Pi 0.5 40.2 s
- Success
- Rho 3% DiT-Flow 3% GR00T N1.7 0% MolmoAct 2 3% Pi 0.5 3%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving98.3%End-effector moving97.2%Gripper engaged44.7%Contact force > 5 N75.9%Gripper engaged or in contact84.0% DiT-Flow Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.4%Gripper engaged36.4%Contact force > 5 N86.3%Gripper engaged or in contact91.9% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged35.2%Contact force > 5 N79.4%Gripper engaged or in contact84.9% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.3%Gripper engaged34.3%Contact force > 5 N85.4%Gripper engaged or in contact89.3% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving99.2%Gripper engaged34.0%Contact force > 5 N82.1%Gripper engaged or in contact87.6%
- 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
Held-out benchmark environment
0:000:30