DSD· Iteration 1
EnvironmentDatum-corner alignment
- Episodes
- DSD 30 Uniform action binning 30
- Total duration
- DSD 8:07 Uniform action binning 9:14
- Mean duration
- DSD 16.2 s Uniform action binning 18.5 s
- Success
- DSD 83% Uniform action binning 80%
- Manipulation density
- 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% 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%
- 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
0:000:14