DSD· Iteration 2
EnvironmentPour screws into the funnel
- Episodes
- DSD 30 Uniform action binning 30
- Total duration
- DSD 6:52 Uniform action binning 5:48
- Mean duration
- DSD 13.7 s Uniform action binning 11.6 s
- Success
- DSD 60% Uniform action binning 60%
- Manipulation density
- DSD Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged81.6%Contact force > 5 N61.4%Gripper engaged or in contact91.4% Uniform action binning Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged77.9%Contact force > 5 N55.2%Gripper engaged or in contact89.1%
- 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
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