Open-Loop Execution· Iteration 1
EnvironmentClamp electrical component
- Episodes
- Open-Loop Execution 30 Short context, long execution 30
- Total duration
- Open-Loop Execution 9:38 Short context, long execution 7:51
- Mean duration
- Open-Loop Execution 19.3 s Short context, long execution 15.7 s
- Success
- Open-Loop Execution 0% Short context, long execution 0%
- Manipulation density
- Open-Loop Execution Share of time manipulating, five definitionsJoints moving98.9%End-effector moving94.8%Gripper engaged86.2%Contact force > 5 N74.0%Gripper engaged or in contact93.5% Short context, long execution Share of time manipulating, five definitionsJoints moving98.5%End-effector moving91.0%Gripper engaged78.6%Contact force > 5 N65.4%Gripper engaged or in contact90.6%
- SPARC smoothness
- Open-Loop Execution 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. Short context, long execution 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
0:000:22