ActionMap (50 demos per task)· Iteration 1
EnvironmentPour screws into the funnel
- Episodes
- ActionMap (50 demos per task) 30 OpenVLA-OFT 30
- Total duration
- ActionMap (50 demos per task) 8:23 OpenVLA-OFT 6:35
- Mean duration
- ActionMap (50 demos per task) 16.8 s OpenVLA-OFT 13.2 s
- Success
- ActionMap (50 demos per task) 40% OpenVLA-OFT 3%
- Manipulation density
- ActionMap (50 demos per task) Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.0%Gripper engaged74.3%Contact force > 5 N67.5%Gripper engaged or in contact91.9% OpenVLA-OFT Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.3%Gripper engaged48.7%Contact force > 5 N74.2%Gripper engaged or in contact87.1%
- SPARC smoothness
- 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. 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.
Episode
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