CUPID· Iteration 2
EnvironmentClamp electrical component
- Episodes
- Random filtering 30 CUPID 30
- Total duration
- Random filtering 9:52 CUPID 10:19
- Mean duration
- Random filtering 19.7 s CUPID 20.6 s
- Success
- Random filtering 0% CUPID 3%
- Manipulation density
- Random filtering Share of time manipulating, five definitionsJoints moving93.7%End-effector moving68.6%Gripper engaged85.4%Contact force > 5 N80.7%Gripper engaged or in contact95.1% CUPID Share of time manipulating, five definitionsJoints moving91.3%End-effector moving73.7%Gripper engaged85.0%Contact force > 5 N86.5%Gripper engaged or in contact94.8%
- SPARC smoothness
- 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. 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.
Episode
Held-out benchmark environment
0:000:19