BenchmarkPAW-GEN-10
Environmente09Open the toolbox with a screwdriver
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 22:27 DiT-Flow 20:35 GR00T N1.7 16:56 MolmoAct 2 14:39 Pi 0.5 20:15
- Mean duration
- Rho 44.9 s DiT-Flow 41.2 s GR00T N1.7 33.9 s MolmoAct 2 29.3 s Pi 0.5 40.5 s
- Success
- Rho 87% DiT-Flow 30% GR00T N1.7 20% MolmoAct 2 17% Pi 0.5 27%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged72.9%Contact force > 5 N87.9%Gripper engaged or in contact96.0% DiT-Flow Share of time manipulating, five definitionsJoints moving97.1%End-effector moving86.6%Gripper engaged76.4%Contact force > 5 N83.7%Gripper engaged or in contact96.7% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.2%Gripper engaged75.1%Contact force > 5 N79.3%Gripper engaged or in contact96.0% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.3%Gripper engaged70.9%Contact force > 5 N85.3%Gripper engaged or in contact97.1% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged78.0%Contact force > 5 N86.3%Gripper engaged or in contact97.7%
- 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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