ActionMap (full data)· Iteration 2
EnvironmentClamp electrical component
- Episodes
- ActionMap (full data) 30 OpenVLA-OFT 30
- Total duration
- ActionMap (full data) 14:39 OpenVLA-OFT 7:01
- Mean duration
- ActionMap (full data) 29.3 s OpenVLA-OFT 14.0 s
- Success
- ActionMap (full data) 3% OpenVLA-OFT 0%
- Manipulation density
- ActionMap (full data) Share of time manipulating, five definitionsJoints moving94.0%End-effector moving68.3%Gripper engaged78.1%Contact force > 5 N75.9%Gripper engaged or in contact94.6% OpenVLA-OFT Share of time manipulating, five definitionsJoints moving99.9%End-effector moving72.0%Gripper engaged47.2%Contact force > 5 N71.3%Gripper engaged or in contact78.0%
- 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
0:000:25