DSD· Iteration 1
EnvironmentDatum-corner alignment
- Episodes
- Uniform action binning 30 DSD 30
- Total duration
- Uniform action binning 9:14 DSD 8:07
- Mean duration
- Uniform action binning 18.5 s DSD 16.2 s
- Success
- Uniform action binning 80% DSD 83%
- Manipulation density
- Uniform action binning Share of time manipulating, five definitionsJoints moving98.3%End-effector moving89.7%Gripper engaged0.0%Contact force > 5 N61.0%Gripper engaged or in contact61.0% DSD Share of time manipulating, five definitionsJoints moving98.8%End-effector moving95.2%Gripper engaged0.0%Contact force > 5 N61.8%Gripper engaged or in contact61.8%
- 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
0:000:16