ManiFlow· Iteration 1
EnvironmentPlace spray bottles upright, nozzle forward (bimanual handover)
- Episodes
- Diffusion Policy 30 ManiFlow 30
- Total duration
- Diffusion Policy 36:21 ManiFlow 32:59
- Mean duration
- Diffusion Policy 72.7 s ManiFlow 66.0 s
- Success
- Diffusion Policy 97% ManiFlow 90%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving99.9%End-effector moving96.8%Gripper engaged75.5%Contact force > 5 N64.1%Gripper engaged or in contact90.9% ManiFlow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.8%Gripper engaged72.5%Contact force > 5 N68.6%Gripper engaged or in contact92.4%
- 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
0:001:13