BenchmarkPAW-GEN-10
Environmente02Datum-corner alignment
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 7:08 DiT-Flow 9:32 GR00T N1.7 9:27 MolmoAct 2 7:44 Pi 0.5 8:08
- Mean duration
- Rho 14.3 s DiT-Flow 19.1 s GR00T N1.7 18.9 s MolmoAct 2 15.5 s Pi 0.5 16.3 s
- Success
- Rho 57% DiT-Flow 27% GR00T N1.7 37% MolmoAct 2 73% Pi 0.5 73%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.3%End-effector moving95.9%Gripper engaged0.0%Contact force > 5 N68.4%Gripper engaged or in contact68.4% DiT-Flow Share of time manipulating, five definitionsJoints moving99.5%End-effector moving90.2%Gripper engaged0.0%Contact force > 5 N68.5%Gripper engaged or in contact68.5% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving95.4%Gripper engaged0.0%Contact force > 5 N68.5%Gripper engaged or in contact68.5% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.9%End-effector moving96.5%Gripper engaged0.0%Contact force > 5 N66.3%Gripper engaged or in contact66.3% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.4%Gripper engaged0.0%Contact force > 5 N65.3%Gripper engaged or in contact65.3%
- 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
0:000:12