BenchmarkPAW-GEN-10
Environmente10Clamp electrical component
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 19:11 DiT-Flow 11:24 GR00T N1.7 10:47 MolmoAct 2 12:42 Pi 0.5 4:34
- Mean duration
- Rho 38.4 s DiT-Flow 22.8 s GR00T N1.7 21.6 s MolmoAct 2 25.4 s Pi 0.5 9.1 s
- Success
- Rho 3% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 23% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving98.0%End-effector moving94.6%Gripper engaged92.9%Contact force > 5 N79.4%Gripper engaged or in contact96.9% DiT-Flow Share of time manipulating, five definitionsJoints moving88.0%End-effector moving65.0%Gripper engaged88.5%Contact force > 5 N70.0%Gripper engaged or in contact94.8% GR00T N1.7 Share of time manipulating, five definitionsJoints moving98.4%End-effector moving89.7%Gripper engaged87.9%Contact force > 5 N90.2%Gripper engaged or in contact95.0% MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.7%End-effector moving88.5%Gripper engaged85.7%Contact force > 5 N88.2%Gripper engaged or in contact94.1% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.1%Gripper engaged70.4%Contact force > 5 N72.3%Gripper engaged or in contact87.9%
- 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
0:000:13