BenchmarkPAW-GEN-10
Environmente06Put tools in standing toolbox
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 18:33 DiT-Flow 12:59 GR00T N1.7 19:07 MolmoAct 2 14:30 Pi 0.5 16:14
- Mean duration
- Rho 37.1 s DiT-Flow 26.0 s GR00T N1.7 38.2 s MolmoAct 2 29.0 s Pi 0.5 32.5 s
- Success
- Rho 17% DiT-Flow 3% GR00T N1.7 3% MolmoAct 2 10% Pi 0.5 10%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged48.9%Contact force > 5 N77.1%Gripper engaged or in contact86.2% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.3%Gripper engaged37.8%Contact force > 5 N82.4%Gripper engaged or in contact89.0% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.9%Gripper engaged46.0%Contact force > 5 N80.9%Gripper engaged or in contact88.0% MolmoAct 2 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.7%Gripper engaged41.6%Contact force > 5 N85.9%Gripper engaged or in contact89.9% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged44.9%Contact force > 5 N80.5%Gripper engaged or in contact87.9%
- 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
0:000:33