ActionMap (full data)· Iteration 1
EnvironmentPour screws into the funnel
- Episodes
- OpenVLA-OFT 30 ActionMap (full data) 30
- Total duration
- OpenVLA-OFT 8:58 ActionMap (full data) 8:34
- Mean duration
- OpenVLA-OFT 17.9 s ActionMap (full data) 17.1 s
- Success
- OpenVLA-OFT 63% ActionMap (full data) 50%
- Manipulation density
- OpenVLA-OFT Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.3%Gripper engaged74.8%Contact force > 5 N78.1%Gripper engaged or in contact93.3% ActionMap (full data) Share of time manipulating, five definitionsJoints moving99.9%End-effector moving98.4%Gripper engaged80.0%Contact force > 5 N62.2%Gripper engaged or in contact92.1%
- 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
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