DSD· Iteration 2
EnvironmentClamp electrical component
- Episodes
- Uniform action binning 30 DSD 30
- Total duration
- Uniform action binning 13:50 DSD 16:30
- Mean duration
- Uniform action binning 27.7 s DSD 33.0 s
- Success
- Uniform action binning 10% DSD 3%
- Manipulation density
- Uniform action binning Share of time manipulating, five definitionsJoints moving92.7%End-effector moving73.2%Gripper engaged88.1%Contact force > 5 N82.9%Gripper engaged or in contact96.5% 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%
- 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
0:000:28