DSD· Iteration 2
EnvironmentOpen the toolbox with a screwdriver
- Episodes
- Uniform action binning 30 DSD 30
- Total duration
- Uniform action binning 26:24 DSD 19:30
- Mean duration
- Uniform action binning 52.8 s DSD 39.0 s
- Success
- Uniform action binning 33% DSD 20%
- Manipulation density
- Uniform action binning Share of time manipulating, five definitionsJoints moving98.0%End-effector moving84.0%Gripper engaged76.7%Contact force > 5 N80.7%Gripper engaged or in contact93.9% DSD Share of time manipulating, five definitionsJoints moving93.6%End-effector moving64.0%Gripper engaged36.4%Contact force > 5 N73.0%Gripper engaged or in contact79.6%
- 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
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