SMILE· Iteration 1
EnvironmentPut tools in standing toolbox
- Episodes
- SmolVLA 30 SMILE 30
- Total duration
- SmolVLA 8:34 SMILE 8:27
- Mean duration
- SmolVLA 17.1 s SMILE 16.9 s
- Success
- SmolVLA 0% SMILE 0%
- Manipulation density
- SmolVLA Share of time manipulating, five definitionsJoints moving99.9%End-effector moving95.4%Gripper engaged38.8%Contact force > 5 N79.4%Gripper engaged or in contact88.6% SMILE Share of time manipulating, five definitionsJoints moving99.8%End-effector moving96.5%Gripper engaged63.9%Contact force > 5 N70.8%Gripper engaged or in contact90.7%
- 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
0:000:15