ActionMap (50 demos per task)· Iteration 1
EnvironmentClamp electrical component
- Episodes
- OpenVLA-OFT 30 ActionMap (50 demos per task) 30
- Total duration
- OpenVLA-OFT 6:31 ActionMap (50 demos per task) 11:24
- Mean duration
- OpenVLA-OFT 13.0 s ActionMap (50 demos per task) 22.8 s
- Success
- OpenVLA-OFT 0% ActionMap (50 demos per task) 0%
- Manipulation density
- OpenVLA-OFT Share of time manipulating, five definitionsJoints moving100.0%End-effector moving95.9%Gripper engaged0.0%Contact force > 5 N70.2%Gripper engaged or in contact70.2% ActionMap (50 demos per task) Share of time manipulating, five definitionsJoints moving97.4%End-effector moving81.9%Gripper engaged63.8%Contact force > 5 N77.5%Gripper engaged or in contact87.2%
- SPARC smoothness
- OpenVLA-OFT 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. ActionMap (50 demos per task) 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
0:000:11