ActionMap (full data)· Iteration 2
EnvironmentPour screws into the funnel
- Episodes
- ActionMap (full data) 30 OpenVLA-OFT 30
- Total duration
- ActionMap (full data) 5:56 OpenVLA-OFT 6:59
- Mean duration
- ActionMap (full data) 11.9 s OpenVLA-OFT 14.0 s
- Success
- ActionMap (full data) 77% OpenVLA-OFT 73%
- Manipulation density
- ActionMap (full data) Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged80.0%Contact force > 5 N53.8%Gripper engaged or in contact90.0% OpenVLA-OFT Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.1%Gripper engaged80.4%Contact force > 5 N60.3%Gripper engaged or in contact90.0%
- 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
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