Open-Loop Execution· Iteration 1
EnvironmentPour screws into the funnel
- Episodes
- Short context, long execution 30 Open-Loop Execution 30
- Total duration
- Short context, long execution 6:26 Open-Loop Execution 6:34
- Mean duration
- Short context, long execution 12.9 s Open-Loop Execution 13.1 s
- Success
- Short context, long execution 80% Open-Loop Execution 83%
- Manipulation density
- Short context, long execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged79.4%Contact force > 5 N61.7%Gripper engaged or in contact91.7% Open-Loop Execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged79.8%Contact force > 5 N61.1%Gripper engaged or in contact91.7%
- SPARC smoothness
- 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. 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.
Episode
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