Patch Policy (CLS versus Dense)· Iteration 2
EnvironmentPour screws into the funnel
- Episodes
- Patch Policy (CLS versus Dense) 30 CLS token 30
- Total duration
- Patch Policy (CLS versus Dense) 5:42 CLS token 4:36
- Mean duration
- Patch Policy (CLS versus Dense) 11.4 s CLS token 9.2 s
- Success
- Patch Policy (CLS versus Dense) 50% CLS token 10%
- Manipulation density
- Patch Policy (CLS versus Dense) Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.1%Gripper engaged78.3%Contact force > 5 N58.4%Gripper engaged or in contact86.8% CLS token Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.2%Gripper engaged63.6%Contact force > 5 N56.2%Gripper engaged or in contact76.8%
- 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
Loading the replay…
0:000:12