DSD· Iteration 1
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- Uniform action binning 30 DSD 30
- Total duration
- Uniform action binning 17:21 DSD 18:26
- Mean duration
- Uniform action binning 34.7 s DSD 36.9 s
- Success
- Uniform action binning 40% DSD 60%
- Manipulation density
- Uniform action binning Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged61.4%Contact force > 5 N73.2%Gripper engaged or in contact84.5% DSD Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged62.2%Contact force > 5 N74.3%Gripper engaged or in contact82.9%
- SPARC smoothness
- 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. 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.
Episode
Held-out benchmark environment
0:000:48