BenchmarkPAW-GEN-10
Environmente05Route cable through closed hoops
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 16:15 DiT-Flow 21:45 GR00T N1.7 12:33 MolmoAct 2 23:13 Pi 0.5 21:29
- Mean duration
- Rho 32.5 s DiT-Flow 43.5 s GR00T N1.7 25.1 s MolmoAct 2 46.4 s Pi 0.5 43.0 s
- Success
- Rho 7% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 50% Pi 0.5 10%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.5%Gripper engaged57.2%Contact force > 5 N87.9%Gripper engaged or in contact93.4% DiT-Flow Share of time manipulating, five definitionsJoints moving97.1%End-effector moving86.2%Gripper engaged59.4%Contact force > 5 N90.8%Gripper engaged or in contact96.6% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving94.9%Gripper engaged56.6%Contact force > 5 N87.9%Gripper engaged or in contact91.1% MolmoAct 2 Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.3%Gripper engaged58.0%Contact force > 5 N91.5%Gripper engaged or in contact97.0% Pi 0.5 Share of time manipulating, five definitionsJoints moving99.7%End-effector moving95.5%Gripper engaged60.8%Contact force > 5 N86.2%Gripper engaged or in contact94.4%
- 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…
0:000:17