BenchmarkPAW-GEN-10
Environmente02Datum-corner alignment
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 7:23 DiT-Flow 7:54 GR00T N1.7 8:42 MolmoAct 2 7:04 Pi 0.5 6:24
- Mean duration
- Rho 14.8 s DiT-Flow 15.8 s GR00T N1.7 17.4 s MolmoAct 2 14.1 s Pi 0.5 12.8 s
- Success
- Rho 63% DiT-Flow 17% GR00T N1.7 40% MolmoAct 2 73% Pi 0.5 53%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.7%End-effector moving95.1%Gripper engaged0.0%Contact force > 5 N69.7%Gripper engaged or in contact69.7% DiT-Flow Share of time manipulating, five definitionsJoints moving99.7%End-effector moving91.1%Gripper engaged0.0%Contact force > 5 N77.2%Gripper engaged or in contact77.2% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving95.6%Gripper engaged0.0%Contact force > 5 N74.6%Gripper engaged or in contact74.6% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.9%Gripper engaged0.0%Contact force > 5 N66.8%Gripper engaged or in contact66.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.4%Gripper engaged0.0%Contact force > 5 N67.1%Gripper engaged or in contact67.1%
- 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
0:000:17