Open-Loop Execution· Iteration 3
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- Open-Loop Execution 30 Short context, long execution 30
- Total duration
- Open-Loop Execution 18:43 Short context, long execution 13:42
- Mean duration
- Open-Loop Execution 37.4 s Short context, long execution 27.4 s
- Success
- Open-Loop Execution 40% Short context, long execution 3%
- Manipulation density
- Open-Loop Execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.1%Gripper engaged62.6%Contact force > 5 N66.9%Gripper engaged or in contact81.0% Short context, long execution Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.3%Gripper engaged64.7%Contact force > 5 N65.7%Gripper engaged or in contact82.1%
- 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
Held-out benchmark environment
0:000:39