Open-Loop Execution· Iteration 3
EnvironmentOpen the toolbox with a screwdriver
- Episodes
- Short context, long execution 30 Open-Loop Execution 30
- Total duration
- Short context, long execution 11:29 Open-Loop Execution 15:19
- Mean duration
- Short context, long execution 23.0 s Open-Loop Execution 30.6 s
- Success
- Short context, long execution 17% Open-Loop Execution 10%
- Manipulation density
- Short context, long execution Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.3%Gripper engaged67.8%Contact force > 5 N83.4%Gripper engaged or in contact95.0% Open-Loop Execution Share of time manipulating, five definitionsJoints moving99.6%End-effector moving94.8%Gripper engaged71.7%Contact force > 5 N87.0%Gripper engaged or in contact95.4%
- 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
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