CSP· Iteration 1
EnvironmentDatum-corner alignment
- Episodes
- Diffusion Policy 30 CSP 30
- Total duration
- Diffusion Policy 10:51 CSP 9:49
- Mean duration
- Diffusion Policy 21.7 s CSP 19.6 s
- Success
- Diffusion Policy 0% CSP 13%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving95.3%End-effector moving86.4%Gripper engaged0.0%Contact force > 5 N67.4%Gripper engaged or in contact67.4% CSP Share of time manipulating, five definitionsJoints moving98.4%End-effector moving86.9%Gripper engaged0.0%Contact force > 5 N76.7%Gripper engaged or in contact76.7%
- 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
0:000:16