Open-Loop Execution· Iteration 1
EnvironmentRoute cable through closed hoops
- Episodes
- Short context, long execution 30 Open-Loop Execution 30
- Total duration
- Short context, long execution 20:10 Open-Loop Execution 9:27
- Mean duration
- Short context, long execution 40.3 s Open-Loop Execution 18.9 s
- Success
- Short context, long execution 0% Open-Loop Execution 0%
- Manipulation density
- Short context, long execution Share of time manipulating, five definitionsJoints moving99.1%End-effector moving96.0%Gripper engaged73.0%Contact force > 5 N72.7%Gripper engaged or in contact92.2% Open-Loop Execution Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.0%Gripper engaged65.5%Contact force > 5 N69.5%Gripper engaged or in contact88.1%
- 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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