SMILE· Iteration 1
EnvironmentClamp electrical component
- Episodes
- SMILE 30 SmolVLA 30
- Total duration
- SMILE 12:27 SmolVLA 7:40
- Mean duration
- SMILE 24.9 s SmolVLA 15.3 s
- Success
- SMILE 3% SmolVLA 3%
- Manipulation density
- 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% 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%
- SPARC smoothness
- 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. 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.
Episode
Held-out benchmark environment
0:000:12