CUPID· Iteration 3
EnvironmentSort screws into bins
- Episodes
- CUPID 30 Random filtering 30
- Total duration
- CUPID 24:44 Random filtering 29:16
- Mean duration
- CUPID 49.5 s Random filtering 58.5 s
- Success
- CUPID 0% Random filtering 0%
- Manipulation density
- CUPID Share of time manipulating, five definitionsJoints moving97.1%End-effector moving81.3%Gripper engaged71.5%Contact force > 5 N80.4%Gripper engaged or in contact93.1% Random filtering Share of time manipulating, five definitionsJoints moving99.5%End-effector moving92.7%Gripper engaged92.1%Contact force > 5 N78.4%Gripper engaged or in contact97.7%
- 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
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