BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 28:32 DiT-Flow 34:10 GR00T N1.7 36:13 MolmoAct 2 34:50 Pi 0.5 37:16
- Mean duration
- Rho 57.1 s DiT-Flow 68.3 s GR00T N1.7 72.4 s MolmoAct 2 69.7 s Pi 0.5 74.5 s
- Success
- Rho 17% DiT-Flow 3% GR00T N1.7 0% MolmoAct 2 13% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving95.3%Gripper engaged46.4%Contact force > 5 N79.8%Gripper engaged or in contact88.0% DiT-Flow Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.8%Gripper engaged58.1%Contact force > 5 N84.2%Gripper engaged or in contact92.4% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.8%Gripper engaged64.9%Contact force > 5 N77.9%Gripper engaged or in contact93.2% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving95.9%Gripper engaged54.7%Contact force > 5 N81.4%Gripper engaged or in contact91.1% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged52.1%Contact force > 5 N85.2%Gripper engaged or in contact91.9%
- 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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