BenchmarkPAW-GEN-10
Environmente10Clamp electrical component
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 17:47 DiT-Flow 18:04 GR00T N1.7 11:07 MolmoAct 2 15:03 Pi 0.5 10:00
- Mean duration
- Rho 35.5 s DiT-Flow 36.1 s GR00T N1.7 22.2 s MolmoAct 2 30.1 s Pi 0.5 20.0 s
- Success
- Rho 20% DiT-Flow 3% GR00T N1.7 0% MolmoAct 2 27% Pi 0.5 3%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving98.1%End-effector moving90.0%Gripper engaged88.0%Contact force > 5 N88.7%Gripper engaged or in contact96.6% DiT-Flow Share of time manipulating, five definitionsJoints moving86.8%End-effector moving64.3%Gripper engaged92.1%Contact force > 5 N77.4%Gripper engaged or in contact97.4% GR00T N1.7 Share of time manipulating, five definitionsJoints moving98.4%End-effector moving92.6%Gripper engaged87.8%Contact force > 5 N89.8%Gripper engaged or in contact96.3% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving92.1%Gripper engaged89.9%Contact force > 5 N85.1%Gripper engaged or in contact95.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.4%Gripper engaged85.7%Contact force > 5 N87.6%Gripper engaged or in contact95.2%
- 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
0:000:32