BenchmarkPAW-GEN-10
Environmente09Open the toolbox with a screwdriver
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 21:53 DiT-Flow 22:16 GR00T N1.7 19:37 MolmoAct 2 15:57 Pi 0.5 19:34
- Mean duration
- Rho 43.8 s DiT-Flow 44.5 s GR00T N1.7 39.2 s MolmoAct 2 31.9 s Pi 0.5 39.1 s
- Success
- Rho 90% DiT-Flow 27% GR00T N1.7 17% MolmoAct 2 27% Pi 0.5 37%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.6%Gripper engaged73.8%Contact force > 5 N86.8%Gripper engaged or in contact95.9% DiT-Flow Share of time manipulating, five definitionsJoints moving97.9%End-effector moving81.1%Gripper engaged81.2%Contact force > 5 N80.5%Gripper engaged or in contact97.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.2%Gripper engaged77.1%Contact force > 5 N69.4%Gripper engaged or in contact96.6% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving96.8%Gripper engaged71.6%Contact force > 5 N84.4%Gripper engaged or in contact97.4% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged76.7%Contact force > 5 N88.5%Gripper engaged or in contact97.7%
- 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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