FACT· Iteration 2
EnvironmentDatum-corner alignment
- Episodes
- π0.5 30 FACT 30
- Total duration
- π0.5 10:07 FACT 10:18
- Mean duration
- π0.5 20.2 s FACT 20.6 s
- Success
- π0.5 63% FACT 43%
- Manipulation density
- π0.5 Share of time manipulating, five definitionsJoints moving98.1%End-effector moving84.5%Gripper engaged0.0%Contact force > 5 N73.6%Gripper engaged or in contact73.6% FACT Share of time manipulating, five definitionsJoints moving96.8%End-effector moving84.4%Gripper engaged0.0%Contact force > 5 N78.6%Gripper engaged or in contact78.6%
- 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