ActionMap (full data)· Iteration 2
EnvironmentDatum-corner alignment
- Episodes
- OpenVLA-OFT 30 ActionMap (full data) 30
- Total duration
- OpenVLA-OFT 9:46 ActionMap (full data) 9:50
- Mean duration
- OpenVLA-OFT 19.5 s ActionMap (full data) 19.7 s
- Success
- OpenVLA-OFT 57% ActionMap (full data) 67%
- Manipulation density
- OpenVLA-OFT Share of time manipulating, five definitionsJoints moving98.5%End-effector moving81.9%Gripper engaged0.0%Contact force > 5 N73.7%Gripper engaged or in contact73.7% ActionMap (full data) Share of time manipulating, five definitionsJoints moving97.8%End-effector moving81.4%Gripper engaged0.0%Contact force > 5 N63.2%Gripper engaged or in contact63.2%
- 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
0:000:17