CSP· Iteration 1
EnvironmentClamp electrical component
- Episodes
- Diffusion Policy 30 CSP 30
- Total duration
- Diffusion Policy 13:25 CSP 13:39
- Mean duration
- Diffusion Policy 26.8 s CSP 27.3 s
- Success
- Diffusion Policy 10% CSP 3%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving97.9%End-effector moving86.9%Gripper engaged89.7%Contact force > 5 N85.4%Gripper engaged or in contact96.2% CSP Share of time manipulating, five definitionsJoints moving99.1%End-effector moving93.1%Gripper engaged89.7%Contact force > 5 N80.0%Gripper engaged or in contact96.3%
- SPARC smoothness
- Diffusion Policy 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. CSP 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
0:000:17