SMILE· Iteration 1
EnvironmentPlace loaded boxes in container (bimanual)
- Episodes
- SMILE 30 SmolVLA 30
- Total duration
- SMILE 23:25 SmolVLA 20:44
- Mean duration
- SMILE 46.8 s SmolVLA 41.5 s
- Success
- SMILE 7% SmolVLA 10%
- Manipulation density
- SMILE Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.5%Gripper engaged65.0%Contact force > 5 N64.8%Gripper engaged or in contact80.4% SmolVLA Share of time manipulating, five definitionsJoints moving100.0%End-effector moving98.0%Gripper engaged65.9%Contact force > 5 N69.9%Gripper engaged or in contact79.9%
- 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
0:000:36