SMILE· Iteration 1
EnvironmentPlace spray bottles upright, nozzle forward (bimanual handover)
- Episodes
- SmolVLA 30 SMILE 30
- Total duration
- SmolVLA 31:46 SMILE 36:12
- Mean duration
- SmolVLA 63.5 s SMILE 72.4 s
- Success
- SmolVLA 47% SMILE 50%
- Manipulation density
- SmolVLA Share of time manipulating, five definitionsJoints moving99.9%End-effector moving97.0%Gripper engaged71.0%Contact force > 5 N67.8%Gripper engaged or in contact89.2% SMILE Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.1%Gripper engaged99.4%Contact force > 5 N70.8%Gripper engaged or in contact99.6%
- 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
0:000:29