ManiFlow· Iteration 2
EnvironmentPut tools in standing toolbox
- Episodes
- Diffusion Policy 30 ManiFlow 30
- Total duration
- Diffusion Policy 14:01 ManiFlow 22:04
- Mean duration
- Diffusion Policy 28.0 s ManiFlow 44.1 s
- Success
- Diffusion Policy 0% ManiFlow 17%
- Manipulation density
- Diffusion Policy Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.3%Gripper engaged51.8%Contact force > 5 N67.6%Gripper engaged or in contact83.2% ManiFlow Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.2%Gripper engaged51.2%Contact force > 5 N83.5%Gripper engaged or in contact91.1%
- 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
0:000:30