ManiFlow· Iteration 1
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- ManiFlow 30 Diffusion Policy 30
- Total duration
- ManiFlow 20:00 Diffusion Policy 19:37
- Mean duration
- ManiFlow 40.0 s Diffusion Policy 39.2 s
- Success
- ManiFlow 63% Diffusion Policy 27%
- Manipulation density
- 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% 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%
- SPARC smoothness
- 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. 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.
Episode
Held-out benchmark environment
0:000:37