ManiFlow· Iteration 1
EnvironmentPour screws into the funnel
- Episodes
- Diffusion Policy 30 ManiFlow 30
- Total duration
- Diffusion Policy 7:15 ManiFlow 7:36
- Mean duration
- Diffusion Policy 14.5 s ManiFlow 15.2 s
- Success
- Diffusion Policy 73% ManiFlow 77%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged82.4%Contact force > 5 N56.0%Gripper engaged or in contact89.5% ManiFlow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.4%Gripper engaged78.4%Contact force > 5 N60.8%Gripper engaged or in contact89.4%
- 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
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