BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 14:39 DiT-Flow 19:03 GR00T N1.7 14:36 MolmoAct 2 21:37 Pi 0.5 21:40
- Mean duration
- Rho 29.3 s DiT-Flow 38.1 s GR00T N1.7 29.2 s MolmoAct 2 43.2 s Pi 0.5 43.3 s
- Success
- Rho 7% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 17% Pi 0.5 10%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.7%End-effector moving97.2%Gripper engaged99.7%Contact force > 5 N85.5%Gripper engaged or in contact99.7% DiT-Flow Share of time manipulating, five definitionsJoints moving97.3%End-effector moving87.4%Gripper engaged60.3%Contact force > 5 N89.8%Gripper engaged or in contact95.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving90.1%Gripper engaged64.6%Contact force > 5 N90.8%Gripper engaged or in contact94.0% MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.5%End-effector moving91.5%Gripper engaged59.6%Contact force > 5 N93.9%Gripper engaged or in contact96.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving93.3%Gripper engaged59.5%Contact force > 5 N86.1%Gripper engaged or in contact95.0%
- 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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