CSP· Iteration 1
EnvironmentConnect DC jack
- Episodes
- Diffusion Policy 30 CSP 30
- Total duration
- Diffusion Policy 9:43 CSP 32:05
- Mean duration
- Diffusion Policy 19.4 s CSP 64.2 s
- Success
- Diffusion Policy 0% CSP 0%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving100.0%End-effector moving93.8%Gripper engaged55.0%Contact force > 5 N68.0%Gripper engaged or in contact83.0% CSP Share of time manipulating, five definitionsJoints moving97.1%End-effector moving67.0%Gripper engaged88.0%Contact force > 5 N80.9%Gripper engaged or in contact93.9%
- 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
Loading the replay…
0:000:22