Patch Policy (CLS versus Dense)· Iteration 1
EnvironmentClamp electrical component
- Episodes
- CLS token 30 Patch Policy (CLS versus Dense) 30
- Total duration
- CLS token 7:32 Patch Policy (CLS versus Dense) 7:34
- Mean duration
- CLS token 15.1 s Patch Policy (CLS versus Dense) 15.1 s
- Success
- CLS token 0% Patch Policy (CLS versus Dense) 0%
- Manipulation density
- CLS token Share of time manipulating, five definitionsJoints moving98.7%End-effector moving94.3%Gripper engaged79.3%Contact force > 5 N74.7%Gripper engaged or in contact92.2% Patch Policy (CLS versus Dense) Share of time manipulating, five definitionsJoints moving99.0%End-effector moving93.7%Gripper engaged83.2%Contact force > 5 N77.2%Gripper engaged or in contact92.5%
- SPARC smoothness
- CLS token 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. Patch Policy (CLS versus Dense) 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
0:000:13