Open-Loop Execution· Iteration 2
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- Short context, long execution 30 Open-Loop Execution 30
- Total duration
- Short context, long execution 19:46 Open-Loop Execution 18:16
- Mean duration
- Short context, long execution 39.5 s Open-Loop Execution 36.5 s
- Success
- Short context, long execution 33% Open-Loop Execution 30%
- Manipulation density
- Short context, long execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged64.1%Contact force > 5 N67.6%Gripper engaged or in contact83.8% Open-Loop Execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged61.6%Contact force > 5 N64.3%Gripper engaged or in contact80.0%
- 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
0:000:43