BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 29:29 DiT-Flow 24:03 GR00T N1.7 20:20 MolmoAct 2 14:14 Pi 0.5 19:25
- Mean duration
- Rho 59.0 s DiT-Flow 48.1 s GR00T N1.7 40.7 s MolmoAct 2 28.5 s Pi 0.5 38.8 s
- Success
- Rho 30% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 0% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.0%Gripper engaged80.9%Contact force > 5 N74.6%Gripper engaged or in contact90.4% DiT-Flow Share of time manipulating, five definitionsJoints moving93.9%End-effector moving58.6%Gripper engaged67.7%Contact force > 5 N74.8%Gripper engaged or in contact87.3% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving90.9%Gripper engaged79.8%Contact force > 5 N68.5%Gripper engaged or in contact91.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving91.4%Gripper engaged75.6%Contact force > 5 N74.8%Gripper engaged or in contact89.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving91.5%Gripper engaged78.4%Contact force > 5 N72.7%Gripper engaged or in contact93.8%
- 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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