FACT· Iteration 1
EnvironmentClamp electrical component
- Episodes
- FACT 30 π0.5 30
- Total duration
- FACT 15:05 π0.5 11:48
- Mean duration
- FACT 30.2 s π0.5 23.6 s
- Success
- FACT 0% π0.5 3%
- Manipulation density
- FACT Share of time manipulating, five definitionsJoints moving97.9%End-effector moving89.0%Gripper engaged88.4%Contact force > 5 N88.2%Gripper engaged or in contact95.8% π0.5 Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged83.9%Contact force > 5 N84.0%Gripper engaged or in contact94.0%
- SPARC smoothness
- FACT 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. π0.5 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
0:000:20