BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 21:19 DiT-Flow 24:33 GR00T N1.7 20:49 MolmoAct 2 23:57 Pi 0.5 23:16
- Mean duration
- Rho 42.6 s DiT-Flow 49.1 s GR00T N1.7 41.6 s MolmoAct 2 47.9 s Pi 0.5 46.5 s
- Success
- Rho 7% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 53% Pi 0.5 27%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.7%End-effector moving97.1%Gripper engaged56.8%Contact force > 5 N84.9%Gripper engaged or in contact93.2% DiT-Flow Share of time manipulating, five definitionsJoints moving97.1%End-effector moving81.7%Gripper engaged57.7%Contact force > 5 N91.5%Gripper engaged or in contact96.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving91.4%Gripper engaged60.7%Contact force > 5 N86.8%Gripper engaged or in contact92.2% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.0%Gripper engaged56.2%Contact force > 5 N94.6%Gripper engaged or in contact98.2% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving96.9%Gripper engaged57.5%Contact force > 5 N83.1%Gripper engaged or in contact92.9%
- 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
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