Patch Policy (CLS versus Dense)· Iteration 2
EnvironmentConnect DC jack
- Episodes
- Patch Policy (CLS versus Dense) 30 CLS token 30
- Total duration
- Patch Policy (CLS versus Dense) 31:24 CLS token 33:23
- Mean duration
- Patch Policy (CLS versus Dense) 62.8 s CLS token 66.8 s
- Success
- Patch Policy (CLS versus Dense) 0% CLS token 0%
- Manipulation density
- Patch Policy (CLS versus Dense) Share of time manipulating, five definitionsJoints moving98.2%End-effector moving91.6%Gripper engaged74.7%Contact force > 5 N60.5%Gripper engaged or in contact83.4% CLS token Share of time manipulating, five definitionsJoints moving99.2%End-effector moving96.0%Gripper engaged43.8%Contact force > 5 N49.9%Gripper engaged or in contact63.5%
- SPARC smoothness
- 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. 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.
Episode
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