ActionMap (50 demos per task)· Iteration 2

Episodes

30

Total duration

6:39

Mean duration

13.3 s

Success

20%

Manipulation density

89.8%Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.2%Gripper engaged75.6%Contact force > 5 N64.2%Gripper engaged or in contact89.8%

SPARC smoothness

-5.12Spectral 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.