CUPID· Iteration 1
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- CUPID 30 Random filtering 30
- Total duration
- CUPID 16:45 Random filtering 19:09
- Mean duration
- CUPID 33.5 s Random filtering 38.3 s
- Success
- CUPID 57% Random filtering 60%
- Manipulation density
- CUPID Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.7%Gripper engaged62.3%Contact force > 5 N73.3%Gripper engaged or in contact82.6% Random filtering Share of time manipulating, five definitionsJoints moving99.8%End-effector moving98.8%Gripper engaged62.8%Contact force > 5 N75.0%Gripper engaged or in contact83.1%
- SPARC smoothness
- CUPID 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. Random filtering 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
0:000:05