Open-Loop Execution· Iteration 2
EnvironmentDatum-corner alignment
- Episodes
- Short context, long execution 30 Open-Loop Execution 30
- Total duration
- Short context, long execution 8:10 Open-Loop Execution 7:50
- Mean duration
- Short context, long execution 16.3 s Open-Loop Execution 15.7 s
- Success
- Short context, long execution 33% Open-Loop Execution 43%
- Manipulation density
- Short context, long execution Share of time manipulating, five definitionsJoints moving96.0%End-effector moving87.7%Gripper engaged0.0%Contact force > 5 N61.7%Gripper engaged or in contact61.7% Open-Loop Execution Share of time manipulating, five definitionsJoints moving98.3%End-effector moving90.4%Gripper engaged0.0%Contact force > 5 N70.2%Gripper engaged or in contact70.2%
- 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