Event

Five-link Cartpole Swing-up Benchmark v1 Released

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The corbensorenson/cartpole repository has released 2d-cartpole-5-link-v1, a swing-up and hold benchmark for a two-dimensional five-link cartpole, accompanied by controllers, state/action tapes, and a qualification evidence package. In native MuJoCo 3.3.5, the controller passes qualified swing-up on 32/32 fresh noisy three-dimensional initial states, plus a nominal set and a separate development set. Qualification criteria: 30 seconds per episode, with at least 21.70 seconds of that spent upright; 3-meter/1-kilogram chain, 1-kilogram cart, total XY force no more than 80N, ±3-meter square boundary, 50Hz actions, 200Hz RK4 integration; the world tilt angle of all links must be less than 0.15 radians and persist for at least 5 seconds. The source code reaches 3.33 meters on a wider track; that result is not accepted by this benchmark. The publisher states that these results are empirical evidence about reset noise and do not constitute arbitrary disturbance rejection, indefinite stabilization, or hardware real-time validation.