DSD· Iteration 1
EnvironmentClamp electrical component
- Episodes
- DSD 30 Uniform action binning 30
- Total duration
- DSD 16:30 Uniform action binning 14:36
- Mean duration
- DSD 33.0 s Uniform action binning 29.2 s
- Success
- DSD 3% Uniform action binning 13%
- Manipulation density
- DSD Share of time manipulating, five definitionsJoints moving94.3%End-effector moving75.4%Gripper engaged90.0%Contact force > 5 N82.6%Gripper engaged or in contact96.6% Uniform action binning Share of time manipulating, five definitionsJoints moving93.6%End-effector moving68.2%Gripper engaged88.4%Contact force > 5 N78.0%Gripper engaged or in contact96.1%
- SPARC smoothness
- DSD 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. Uniform action binning 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
0:000:15