DSD· Iteration 2
EnvironmentClamp electrical component
- Episodes
- DSD 30 Uniform action binning 30
- Total duration
- DSD 16:30 Uniform action binning 13:50
- Mean duration
- DSD 33.0 s Uniform action binning 27.7 s
- Success
- DSD 3% Uniform action binning 10%
- 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 moving92.7%End-effector moving73.2%Gripper engaged88.1%Contact force > 5 N82.9%Gripper engaged or in contact96.5%
- 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