BenchmarkPAW-GEN-10
Environmente01Sort screws into bins
- Episodes
- Rho 30 DiT-Flow 30 GR00T N1.7 30 MolmoAct 2 30 Pi 0.5 30
- Total duration
- Rho 28:54 DiT-Flow 31:23 GR00T N1.7 27:16 MolmoAct 2 34:16 Pi 0.5 32:23
- Mean duration
- Rho 57.8 s DiT-Flow 62.8 s GR00T N1.7 54.5 s MolmoAct 2 68.5 s Pi 0.5 64.8 s
- Success
- Rho 73% DiT-Flow 0% GR00T N1.7 0% MolmoAct 2 27% Pi 0.5 17%
- Manipulation density
- Rho Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.8%Gripper engaged52.0%Contact force > 5 N77.8%Gripper engaged or in contact89.1% DiT-Flow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving96.5%Gripper engaged55.4%Contact force > 5 N85.0%Gripper engaged or in contact92.4% GR00T N1.7 Share of time manipulating, five definitionsJoints moving99.8%End-effector moving97.0%Gripper engaged60.6%Contact force > 5 N78.4%Gripper engaged or in contact92.9% MolmoAct 2 Share of time manipulating, five definitionsJoints moving98.9%End-effector moving93.6%Gripper engaged52.3%Contact force > 5 N84.0%Gripper engaged or in contact92.8% Pi 0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged50.7%Contact force > 5 N85.4%Gripper engaged or in contact91.8%
- 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
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