ActionMap (full data)· Iteration 1
EnvironmentDatum-corner alignment
- Episodes
- ActionMap (full data) 30 OpenVLA-OFT 30
- Total duration
- ActionMap (full data) 9:46 OpenVLA-OFT 10:27
- Mean duration
- ActionMap (full data) 19.5 s OpenVLA-OFT 20.9 s
- Success
- ActionMap (full data) 50% OpenVLA-OFT 50%
- Manipulation density
- ActionMap (full data) Share of time manipulating, five definitionsJoints moving98.1%End-effector moving88.8%Gripper engaged0.0%Contact force > 5 N63.0%Gripper engaged or in contact63.0% OpenVLA-OFT Share of time manipulating, five definitionsJoints moving97.7%End-effector moving83.4%Gripper engaged0.0%Contact force > 5 N79.0%Gripper engaged or in contact79.0%
- SPARC smoothness
- 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. 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
Held-out benchmark environment
0:000:22