OAT· Iteration 1
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- QueST 30 OAT 30
- Total duration
- QueST 14:58 OAT 14:12
- Mean duration
- QueST 29.9 s OAT 28.4 s
- Success
- QueST 3% OAT 10%
- Manipulation density
- QueST Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged57.2%Contact force > 5 N74.1%Gripper engaged or in contact84.2% OAT Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.8%Gripper engaged62.7%Contact force > 5 N71.7%Gripper engaged or in contact86.6%
- SPARC smoothness
- 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. 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.
Episode
Held-out benchmark environment
0:000:23