BenchmarkPAW-GEN-10
Environmente04Connect DC jack
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 26:55 DiT-Flow 22:45 GR00T N1.7 19:00 MolmoAct 2 29:16 Pi 0.5 21:16
- Mean duration
- Rho 53.8 s DiT-Flow 45.5 s GR00T N1.7 38.0 s MolmoAct 2 58.5 s Pi 0.5 42.5 s
- Success
- Rho 37% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 60% Pi 0.5 0%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving96.1%Gripper engaged76.4%Contact force > 5 N74.9%Gripper engaged or in contact88.6% DiT-Flow Share of time manipulating, five definitionsJoints moving97.1%End-effector moving70.6%Gripper engaged70.8%Contact force > 5 N71.3%Gripper engaged or in contact86.4% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving88.9%Gripper engaged76.1%Contact force > 5 N71.3%Gripper engaged or in contact89.0% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving90.8%Gripper engaged75.4%Contact force > 5 N79.0%Gripper engaged or in contact92.7% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving86.1%Gripper engaged81.7%Contact force > 5 N78.9%Gripper engaged or in contact93.1%
- 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
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