SMILE· Iteration 1
EnvironmentClamp electrical component
- Episodes
- SmolVLA 30 SMILE 30
- Total duration
- SmolVLA 7:40 SMILE 12:27
- Mean duration
- SmolVLA 15.3 s SMILE 24.9 s
- Success
- SmolVLA 3% SMILE 3%
- Manipulation density
- SmolVLA Share of time manipulating, five definitionsJoints moving97.1%End-effector moving86.5%Gripper engaged71.3%Contact force > 5 N73.2%Gripper engaged or in contact84.7% SMILE Share of time manipulating, five definitionsJoints moving95.4%End-effector moving78.9%Gripper engaged82.3%Contact force > 5 N83.0%Gripper engaged or in contact91.8%
- SPARC smoothness
- SmolVLA 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. SMILE 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
0:000:14