BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 6:13 DiT-Flow 7:30 GR00T N1.7 5:32 MolmoAct 2 6:10 Pi 0.5 6:28
- Mean duration
- Rho 12.4 s DiT-Flow 15.0 s GR00T N1.7 11.1 s MolmoAct 2 12.3 s Pi 0.5 12.9 s
- Success
- Rho 87% DiT-Flow 67% GR00T N1.7 47% MolmoAct 2 67% Pi 0.5 90%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged80.0%Contact force > 5 N59.2%Gripper engaged or in contact88.7% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged76.0%Contact force > 5 N62.0%Gripper engaged or in contact87.0% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged80.9%Contact force > 5 N79.2%Gripper engaged or in contact91.4% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged75.3%Contact force > 5 N59.8%Gripper engaged or in contact84.1% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged79.3%Contact force > 5 N57.6%Gripper engaged or in contact88.8%
- 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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