Open-Loop Execution· Iteration 2
EnvironmentPour screws into the funnel
- Episodes
- Open-Loop Execution 30 Short context, long execution 30
- Total duration
- Open-Loop Execution 6:21 Short context, long execution 6:29
- Mean duration
- Open-Loop Execution 12.7 s Short context, long execution 13.0 s
- Success
- Open-Loop Execution 80% Short context, long execution 83%
- Manipulation density
- Open-Loop Execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged76.2%Contact force > 5 N58.7%Gripper engaged or in contact89.6% Short context, long execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.1%Gripper engaged73.7%Contact force > 5 N57.6%Gripper engaged or in contact89.2%
- 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
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