BenchmarkPAW-GEN-10
Environmente03Pour screws into the funnel
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 6:32 DiT-Flow 7:19 GR00T N1.7 5:37 MolmoAct 2 5:54 Pi 0.5 6:54
- Mean duration
- Rho 13.1 s DiT-Flow 14.6 s GR00T N1.7 11.2 s MolmoAct 2 11.8 s Pi 0.5 13.8 s
- Success
- Rho 90% DiT-Flow 87% GR00T N1.7 53% MolmoAct 2 57% Pi 0.5 90%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.9%End-effector moving99.6%Gripper engaged80.1%Contact force > 5 N60.0%Gripper engaged or in contact89.3% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged78.1%Contact force > 5 N50.7%Gripper engaged or in contact86.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged79.8%Contact force > 5 N77.9%Gripper engaged or in contact91.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving99.1%Gripper engaged74.5%Contact force > 5 N64.1%Gripper engaged or in contact85.5% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged78.6%Contact force > 5 N54.8%Gripper engaged or in contact88.0%
- 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
Loading the replay…
0:000:19