ActionMap (full data)· Iteration 1
EnvironmentClamp electrical component
- Episodes
- OpenVLA-OFT 30 ActionMap (full data) 30
- Total duration
- OpenVLA-OFT 7:42 ActionMap (full data) 8:34
- Mean duration
- OpenVLA-OFT 15.4 s ActionMap (full data) 17.1 s
- Success
- OpenVLA-OFT 0% ActionMap (full data) 0%
- Manipulation density
- OpenVLA-OFT Share of time manipulating, five definitionsJoints moving99.3%End-effector moving80.7%Gripper engaged53.6%Contact force > 5 N66.8%Gripper engaged or in contact75.8% ActionMap (full data) Share of time manipulating, five definitionsJoints moving98.0%End-effector moving79.9%Gripper engaged60.8%Contact force > 5 N77.6%Gripper engaged or in contact88.4%
- 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 (full data) 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
0:000:07