OAT· Iteration 1
EnvironmentClamp electrical component
- Episodes
- OAT 30 QueST 30
- Total duration
- OAT 7:11 QueST 7:57
- Mean duration
- OAT 14.4 s QueST 15.9 s
- Success
- OAT 0% QueST 0%
- Manipulation density
- OAT Share of time manipulating, five definitionsJoints moving98.6%End-effector moving96.0%Gripper engaged57.3%Contact force > 5 N64.3%Gripper engaged or in contact81.9% QueST Share of time manipulating, five definitionsJoints moving98.6%End-effector moving94.1%Gripper engaged66.4%Contact force > 5 N70.6%Gripper engaged or in contact88.7%
- SPARC smoothness
- OAT 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. QueST 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
0:000:10