OAT· Iteration 3
EnvironmentClamp electrical component
- Episodes
- OAT 30 QueST 30
- Total duration
- OAT 7:41 QueST 9:58
- Mean duration
- OAT 15.4 s QueST 19.9 s
- Success
- OAT 0% QueST 0%
- Manipulation density
- OAT Share of time manipulating, five definitionsJoints moving98.1%End-effector moving91.0%Gripper engaged73.9%Contact force > 5 N70.3%Gripper engaged or in contact91.4% QueST Share of time manipulating, five definitionsJoints moving98.0%End-effector moving83.9%Gripper engaged65.8%Contact force > 5 N86.9%Gripper engaged or in contact92.0%
- 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