ManiFlow· Iteration 1
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- Diffusion Policy 30 ManiFlow 30
- Total duration
- Diffusion Policy 19:37 ManiFlow 20:00
- Mean duration
- Diffusion Policy 39.2 s ManiFlow 40.0 s
- Success
- Diffusion Policy 27% ManiFlow 63%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged61.2%Contact force > 5 N72.4%Gripper engaged or in contact81.7% ManiFlow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.8%Gripper engaged64.3%Contact force > 5 N74.4%Gripper engaged or in contact82.3%
- 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. ManiFlow 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
0:000:38