ManiFlow· Iteration 2
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- Diffusion Policy 30 ManiFlow 30
- Total duration
- Diffusion Policy 24:06 ManiFlow 20:53
- Mean duration
- Diffusion Policy 48.2 s ManiFlow 41.8 s
- Success
- Diffusion Policy 47% ManiFlow 57%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.7%Gripper engaged63.7%Contact force > 5 N74.1%Gripper engaged or in contact82.6% ManiFlow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged65.5%Contact force > 5 N75.8%Gripper engaged or in contact87.0%
- 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
0:000:39