BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 25:57 DiT-Flow 39:30 GR00T N1.7 36:05 MolmoAct 2 24:08 Pi 0.5 34:36
- Mean duration
- Rho 51.9 s DiT-Flow 79.0 s GR00T N1.7 72.2 s MolmoAct 2 48.3 s Pi 0.5 69.2 s
- Success
- Rho 70% DiT-Flow 0% GR00T N1.7 13% MolmoAct 2 20% Pi 0.5 7%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.3%Gripper engaged50.4%Contact force > 5 N80.5%Gripper engaged or in contact90.3% DiT-Flow Share of time manipulating, five definitionsJoints moving99.3%End-effector moving93.7%Gripper engaged49.8%Contact force > 5 N86.7%Gripper engaged or in contact93.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.2%Gripper engaged73.4%Contact force > 5 N77.5%Gripper engaged or in contact96.7% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving96.1%Gripper engaged53.5%Contact force > 5 N88.4%Gripper engaged or in contact95.6% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged48.4%Contact force > 5 N87.2%Gripper engaged or in contact93.5%
- 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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