CUPID· Iteration 3
EnvironmentPlace spray bottles upright, nozzle forward (bimanual handover)
- Episodes
- Random filtering 30 CUPID 30
- Total duration
- Random filtering 35:47 CUPID 33:42
- Mean duration
- Random filtering 71.6 s CUPID 67.4 s
- Success
- Random filtering 80% CUPID 97%
- Manipulation density
- Random filtering Share of time manipulating, five definitionsJoints moving99.5%End-effector moving95.4%Gripper engaged69.8%Contact force > 5 N67.1%Gripper engaged or in contact91.2% CUPID Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.0%Gripper engaged70.5%Contact force > 5 N66.1%Gripper engaged or in contact91.0%
- 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
0:001:43