SMILE· Iteration 1
EnvironmentPlace spray bottles upright, nozzle forward (bimanual handover)
- Episodes
- SMILE 30 SmolVLA 30
- Total duration
- SMILE 36:12 SmolVLA 31:46
- Mean duration
- SMILE 72.4 s SmolVLA 63.5 s
- Success
- SMILE 50% SmolVLA 47%
- Manipulation density
- 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% 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%
- 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
0:001:33