FACT· Iteration 1
EnvironmentDatum-corner alignment
- Episodes
- π0.5 30 FACT 30
- Total duration
- π0.5 10:42 FACT 16:20
- Mean duration
- π0.5 21.4 s FACT 32.7 s
- Success
- π0.5 30% FACT 30%
- Manipulation density
- π0.5 Share of time manipulating, five definitionsJoints moving97.9%End-effector moving87.1%Gripper engaged0.0%Contact force > 5 N58.9%Gripper engaged or in contact58.9% FACT Share of time manipulating, five definitionsJoints moving86.3%End-effector moving66.2%Gripper engaged0.0%Contact force > 5 N53.7%Gripper engaged or in contact53.7%
- SPARC smoothness
- 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. 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.
Episode
Held-out benchmark environment
0:000:23