Open-Loop Execution· Iteration 3
EnvironmentDatum-corner alignment
- Episodes
- Short context, long execution 30 Open-Loop Execution 30
- Total duration
- Short context, long execution 9:42 Open-Loop Execution 10:30
- Mean duration
- Short context, long execution 19.4 s Open-Loop Execution 21.0 s
- Success
- Short context, long execution 57% Open-Loop Execution 53%
- Manipulation density
- Short context, long execution Share of time manipulating, five definitionsJoints moving98.2%End-effector moving83.3%Gripper engaged0.0%Contact force > 5 N72.4%Gripper engaged or in contact72.4% Open-Loop Execution Share of time manipulating, five definitionsJoints moving97.1%End-effector moving80.6%Gripper engaged0.0%Contact force > 5 N71.9%Gripper engaged or in contact71.9%
- 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
0:000:19