OAT· Iteration 2
EnvironmentPour screws into the funnel
- Episodes
- QueST 30 OAT 30
- Total duration
- QueST 5:31 OAT 4:49
- Mean duration
- QueST 11.0 s OAT 9.6 s
- Success
- QueST 33% OAT 27%
- Manipulation density
- QueST Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged82.7%Contact force > 5 N53.4%Gripper engaged or in contact90.8% OAT Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged79.5%Contact force > 5 N56.9%Gripper engaged or in contact88.4%
- 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
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