Open-Loop Execution· Iteration 1
EnvironmentDatum-corner alignment
- Episodes
- Short context, long execution 30 Open-Loop Execution 30
- Total duration
- Short context, long execution 9:19 Open-Loop Execution 11:03
- Mean duration
- Short context, long execution 18.6 s Open-Loop Execution 22.1 s
- Success
- Short context, long execution 27% Open-Loop Execution 27%
- Manipulation density
- Short context, long execution Share of time manipulating, five definitionsJoints moving98.6%End-effector moving92.9%Gripper engaged0.0%Contact force > 5 N65.4%Gripper engaged or in contact65.4% Open-Loop Execution Share of time manipulating, five definitionsJoints moving98.0%End-effector moving89.9%Gripper engaged0.0%Contact force > 5 N74.4%Gripper engaged or in contact74.4%
- 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
Held-out benchmark environment
0:000:17