BenchmarkPAW-GEN-10
Environmente08Place spray bottles upright, nozzle forward (bimanual handover)
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 31:01 DiT-Flow 31:51 GR00T N1.7 29:01 MolmoAct 2 24:36 Pi 0.5 29:16
- Mean duration
- Rho 62.0 s DiT-Flow 63.7 s GR00T N1.7 58.0 s MolmoAct 2 49.2 s Pi 0.5 58.5 s
- Success
- Rho 83% DiT-Flow 100% GR00T N1.7 73% MolmoAct 2 63% Pi 0.5 83%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged69.6%Contact force > 5 N65.4%Gripper engaged or in contact89.3% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged71.9%Contact force > 5 N68.8%Gripper engaged or in contact90.7% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged71.6%Contact force > 5 N66.8%Gripper engaged or in contact89.8% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged73.1%Contact force > 5 N72.4%Gripper engaged or in contact93.2% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged72.2%Contact force > 5 N67.0%Gripper engaged or in contact90.2%
- 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
0:000:18